Takeda Yukio

タケダユキオ | Takeda Yukio

Affiliation and department：
Job title： Professor
Homepage URL (1)： http://www.msd.mech.e.titech.ac.jp/

Research field (4)： Mechanics and mechatronics , Robotics and intelligent systems , Machine elements and tribology , Design engineering

Research keywords (33)： Kinematics of Machinery , 機構学 , welfare engineering , robotics , machine design , 精密位置決め , 運動学特性 , 高負荷 , 粗微動機構 , 粗微動駆動 , 位置決め精度 , 機構形式 , 誤差解析 , 機械要素 , 転がり球面軸受 , 最適設計 , 静力学特性 , 位置姿勢分離機構 , パラレルマニピュレータ , 絶対精度 , 運動伝達性 , 設計工学 , ロボット , 剛性 , ハイブリッド機構 , パラレル機構 , 精度 , 特異点 , ハイブリッドマニピュレータ , キャリブレーション , 作業領域 , パラレルメカニズム , 機構総合

Research theme for competitive and other funds (22)：

2023 - 2027 Assist-as-needed walking assisting system based on the redundant-hybrid actuation
2020 - 2024 薄膜状電子デバイスの複曲面上実装を実現する微細毛柔軟静電吸着ハンドリングシステム
2017 - 2020 Novel kinematics based on the introduction of the dynamic pairs in the kinemato-dynamic modeling of mechanical systems composed of human and wearable assist-devices
2013 - 2015 弾性ジョイントからなる並進・回転運動分離形5自由度パラレルロボットの設計法
2009 - 2011 Dexterous remote manipulation by the Casting manipulator system

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Papers (77)：

Yuhang Lei, Ming Jiang, Yusuke Sugahara, Yukio Takeda. Three-Actuated-DOF Parallel Continuum Robot with High Twisting Performance: Cosserat Rod-Based Kineto-Static Modeling and Simulation. Advances in Mechanism and Machine Science. 2023. 641-650
Takamaru Saito, Ming Jiang, Yusuke Sugahara, Marco Ceccarelli, Yukio Takeda. Experimental Investigation of an Assistive Device for Ankle Motion Using Dummy Robot. Advances in Mechanism and Machine Science. 2023. 764-774
Ryohei Morita, Ming Jiang, Andrea Botta, Yusuke Sugahara, Giuseppe Quaglia, Marco Ceccarelli, Yukio Takeda. Kinematic Design and Analysis of a Wearable End-Effector Type Upper Limb Assistive Robot. Advances in Mechanism and Machine Science. 2023. 702-712
Kazuki Hayashi, Yusuke Sugahara, Yukio Takeda. Experimental Study on Thrustered Cable-Suspended Parallel Robot for Collaborative Task. Mechanisms and Machine Science. 2023. 419-429
NATSUME RYUNOSUKE, HOSHIBA KOTARO, SUGAHARA YUSUKE, TAKEDA YUKIO, SHIMONO SATOSHI. DESIGN OF ORIGAMI-INSPIRED FALL PREVENTION DEVICE BASED ON PORTABILITY AND EXTENSION CHARACTERISTICS. Proceedings of Jc-IFToMM International Symposium. 2022. 5. 9-16

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MISC (290)：

蔵田, 真鈴, Kurata, Mari, 干場, 功太郎, Hoshiba, Kotaro, 菅原, 雄介, Sugahara, Yusuke, 武田, 行生, TAKEDA, YUKIO. 被介助者上半身の姿勢制御可能な介助者と協働する移乗支援装置の開発- コンセプト提案と縮小モデルでの検討 --Concept Proposal of Cooperative Transfer Assist Device Capable of Controlling Posture of Patient’s Upper Body. LIFE2022講演論文集. 2022
菅原, 雄介, Sugahara, Yusuke, 八木, 達也, Yagi, Tatsuya, 武田, 行生, TAKEDA, YUKIO. 高齢者向けモビリティのためのペダリング運動負荷システム- 楕円軌道ペダルを用いた介入実験 --Pedaling Exercise Load System of a Personal Mobility Vehicle for the Elderly- Intervention experiment using elliptical path pedal system -. LIFE2022講演論文集. 2022
武田, 行生, TAKEDA, YUKIO, 菅原, 雄介, Sugahara, Yusuke. 協調学習操作系を用いたハンズフリーモビリティにおける事前学習の有効性評価-Evaluation of the Effectiveness of Prior Learning in Hands-Free Mobility with Cooperative Learning Operation system. LIFE2022講演論文集. 2022
斎藤, 天丸, Saito, Takamaru, 菅原, 雄介, Sugahara, Yusuke, 武田, 行生, TAKEDA, YUKIO. 減速機付きアクチュエータの駆動冗長性による軽量化-Mass reduction of geared actuator by means of redundant drive. 日本機械学会ロボティクス・メカトロニクス講演会2022予稿集. 2022
熱海, 七都, Atsumi, Nanato, 菅原, 雄介, Sugahara, Yusuke, 栃木, 渉, Tochigi, Wataru, 武田, 行生, TAKEDA, YUKIO. フィン状連鎖を有する水撃音響式壁面検査のための平面パラレルワイヤ駆動機構(剛性行列に基づく解析と実験による剛性向上効果の評価)-Planar cable-driven parallel robot with fin-like chains for water jet impact acoustic wall inspection (Evaluation of the stiffness enhancement effect through analysis based on stiffness matrix and experiment). 機素潤滑設計部門講演会講演論文集. 2021. 1207

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Patents (5)：

6自由度パラレル機構
関節駆動装置
松葉杖形歩行支援機械
歩行支援装置
松葉杖形歩行支援機械

Books (11)：

Theoretical and Applied Mechanics Japan
National Committee for IUTAM, Science Council of Japan 2008
Theoretical and Applied Mechanics Japan
National Committee for IUTAM, Science Council of Japan 2008
最新機械機器要素技術
(有)エヌジーティー 2008 ISBN:9784990371319
最新機械機器要素技術
(有)エヌジーティー 2008 ISBN:9784990371319
Kinematics of Machinery
The Japan Society of Mechanical Engineers 2007 ISBN:9784888981675

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Lectures and oral presentations (129)：

Development of gripper with large gripping force for a draw pipe bender which fabricates complex three dimensional shaped pipes (proposal of a gripping mechanism which grasps 2-dimensional shaped pipes)
(10th Machine Design and Tribology Division Meeting in JSME 2010)
Peg-in-hole by a position-orientation decoupled parallel manipulator with impedance control
(10th Machine Design and Tribology Division Meeting in JSME 2010)
Development of high precision parallel mechanism for vacuum chamber
(10th Machine Design and Tribology Division Meeting in JSME 2010)
3-RPSR Parallel Mechanism with Triple Revolute Joints on the Base
(2010 JSME Conference on Robotics and Mechatronics 2010)
Development of a rehabilitation device using parallel mechanism 窶骭 composition of control system
(2010 JSME Conference on Robotics and Mechatronics 2010)

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Education (3)：

- 1989 Tokyo Institute of Technology Graduate School, Division of Science and Engineering
- 1989 東京工業大学大学院理工学研究科機械工学専攻
- 1987 Tokyo Institute of Technology School of Engineering

Professional career (2)：

Doctor of Engineering (Tokyo Institute of Technology)
Master of Engineering (Tokyo Institute of Technology)

Work history (6)：

2016/04 - 現在 Tokyo Institute of Technology School of Engineering Professor
2013/04 - 2016/03 Tokyo Institute of Technology Super Mechano-System Innovation and Development Center
2012/05 - 2016/03 Tokyo Institute of Technology
1996/08 - 2012/04 Tokyo Institute of Technology
2002 - 2004 Ministry of Education,Culture,Sports,Science and Technology

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Committee career (4)：

2002 - 2003 日本ロボット学会評議員
2002 - 2003 日本ロボット学会評議員
1999 - 2002 日本設計工学会評議員
1999 - 2002 日本設計工学会評議員

Awards (13)：

2013/10 - IFToMM Highly Commended Paper Award: The 3rd IFToMM International Symposium on Robotics and Mechatronics
2012/11 - IFToMM Best Paper Award: The 2nd IFToMM Asian Conference on Mechanism and Machine Science
2012/04 - 日本機械学会機素潤滑設計部門一般表彰(優秀講演)
2011/05 - 日本設計工学会武藤栄次賞優秀設計賞
2011/05 - 日本設計工学会功労賞

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Association Membership(s) (11)：

Japan Society for Design Engineering , International Federation for the Theory of Machines and Mechanisms , Robotic Society of japan , Japan Society of Precision Engineering , The Japan Society of Mechanical Engineers , 計測自動制御学会 , 日本設計工学会 , International Federation for the Theory of Machines and Mechanisms , 日本ロボット学会 , 精密工学会 , 日本機械学会

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