Kyushu University, Department of Mechanical Engineering, Faculty of Engineering System Engineering Lab

Research

Power assist robot

Upper limb assist

The Upper-limb power-assist exoskeleton robot has been developing in order to assist daily activities of physically weak persons such as elderly, disabled, or injured persons. The robot assists the motion of the user based on the user's EMG signals. Tremor suppression methods are also studied.

Lower limb assist

The Lower-limb power-assist exoskeleton robot has been developing in order to assist daily activities of physically weak persons such as elderly, disabled, or injured persons. The robot assists the motion of the user based on the user's EMG signals. Perception-assist is also studied as well as power-assist.

Hand assist

The advantage of the proposed mechanism compared to previously presented studies, is compact, light weight and high output force due to the compliant structure using the layered springs. We introduce the mechanical structure of the proposed mechanism. The first prototype was built actuating four fingers except thumb, using a single linear motor.The output force of each finger is currently limited up to 3 N and expected to be increased. The weight of prototype is approximately 300 g including motor. This work has been done by the collaboration with ReLab. in ETH Zurich, Switzerland and CAMIT in Kyushu University.

Surgical robot

Body image transferable microsurgical robot

Our previous study showed that a robotized 1-degree-of-freedom rubber hand in the form of a master-slave system significantly enhanced the illusion compared with the classic rubber hand illusion. The illusion gives the sense that the part of body becomes part of the robot - it is thus assumed that this multisensory illusion is a potentially effective way to increase intuitiveness, and therefore increase the operability of a multi-degrees-of-freedom master-slave system. To further investigate the concept, we built a multisensory illusion inducible microsurgical robotic system and currently conducting the series of experiments.

Studies on tele-surgery

We have developed a robotic laparoscopic robot with three arms (2 arms for surgical instruments, and an arm for a laparoscope) with a capability of tele-surgery. Tele-surgery experiments including over different countries such as Japan-Korea and Japan-Thailand have been conducted for testing the feasibility of tele-surgery using the developed system. This research was conducted with the collaborations with Mitsuishi Lab. in the University of Tokyo and CAMIT in Kyushu University.
Myoelectric Arm

Myoelectric Arm

The myoelectric upper limb prosthesis has been developing for a person who lost the arm above the elbow. The artificial arm is activated based on the EMG signals to generate the user's intended movement.

Inner skeleton

Inner skeleton

Inner skeleton device is a body embedded motor actuated device that can be replaced from the human bone structure like an artificial joint. The study is in the early stage, but showing the effectiveness to measure the EMG signal from inside the body. The video is posted here.

Knee Joint Simulator

Knee Joint Simulator

The knee joint simulator has been developing in order to evaluate the performance of the artificial knee joint. The simulator can generate the human knee joint motion.

Hip Joint Simulator

Hip Joint Simulator

The hip joint simulator has been developing in order to evaluate the performance of the artificial hip joint. The simulator can generate the joint contact force as well as the human daily hip joint motion. The mechanism of an artificial hip joint dislocation has been analyzed using the simulator.

Haptic device using parallel mechanism

Haptic device using parallel mechanism

In this research, a new parallel mechanism DELTA-R is proposed for a new haptic device within high quality force display capability and operability. The key features of DELTA-R comparing with conventional parallel mechanisms are: a redundant actuation, a small footprint, and a wide working area. The video is posted here.

Neurosurgical motion base

Neurosurgical motion base

Neurosurgical motion base is a 8 DOF robotic arm for positioning a surgical tool. The neurosurgical motion base is developed as a mount-type surgical robot on a conventional surgical head frame, therefore, it is possible to realize a quick installation. The video is posted here.

Surgical Manipulator based on Softrobotics

Surgical Manipulator based on Softrobotics

The mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-link mechanism is a simple combination of a flat spring and a rigid link with a passive joint connection. The video is posted here.

Soft parallel mechanism for optical industry

Soft parallel mechanism for optical industry

Compliant-parallel mechanism is the mechanism that all joints are composed by compliant joints in a parallel structure. The motion of compliant joints can be guided by mechanical constraints from the parallel structure; thus the mechanism can be precisely driven.The video is posted here.

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