Kyushu University Academic Staff Educational and Research Activities Database
List of Papers
Tokushu Inamura Last modified date:2019.06.14

Assistant Professor / Department of Design Strategy / Faculty of Design


Papers
1. 高坂 葉月, 稲村 徳州 , Beyond Scrap and Build - Art Projects on Urban Development in Japan, Arts Management Quarterly, 127, 29-33, Issue No. 127 · October 2017 · ISSN 1610-238X, 2017.10, [URL], Through case studies realized by Social Art Lab, situated at Kyushu University,
Japan, this article illustrates the relationship between arts management and
urban development in Japan. The relating insights into the value generated
through art projects may contribute to a broader global discussion. .
2. Hazim Namik, Tokushu Inamura, Karl Stol, Development of a robotic driver for vehicle dynamometer testing, 2006 Australasian Conference on Robotics and Automation, ACRA 2006 Proceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006, 2006.12, This paper presents the development of a robotic driver for the automation of dynamometer based vehicle testing. The aim is to successfully follow industry standard test cycles used for emissions testing and produce repeatable results. Success will be measured by not exceeding the limits set for human drivers for a successful test. The design of this robotic driver is unique; it uses a single linear motion to actuate the brake and throttle pedals controlled by two cascaded PID controllers (vehicle speed and pedal actuator position). A full SIMULINK model has been created and used for simultaion and rapid control prototyping using dSPACE. The system has been developed and tested from simulation through to actual dynamometer testing. Test results show that by time-shifting the drive cycle 2 seconds forward, the robotic driver successfully adhered to the ADR 37/01 standard, and produced repeatable results. Further development is needed to improve the performance and overcome current system limitations such as motor saturation and accelerator pedal stick-slip..
3. Iain A. Anderson, Thom Hale, Todd Gisby, Tokushu Inamura, Thomas McKay, Benjamin O'Brien, Scott Walbran, Emilio P. Calius, A thin membrane artificial muscle rotary motor, Applied Physics A: Solids and Surfaces, 10.1007/s00339-009-5434-5, 98, 1, 75-83, 2010.01, Desirable rotary motor attributes for robotics include the ability to develop high torque in a low mass body and to generate peak power at low rotational speeds. Electro-active polymer artificial muscles offer promise as actuator elements for robotic motors. A promising artificial muscle technology for use as a driving mechanism for rotary motion is the dielectric elastomer actuator (DEA). We present a membrane DEA motor in which phased actuation of electroded sectors of the motor membrane impart orbital motion to a central drive that turns a rotor. The motor is inherently scalable, flexible, flat, silent in operation, amenable to deposition-based manufacturing approaches, and uses relatively inexpensive materials. As a membrane it can also form part of the skin of a robot. We have investigated the torque and power of stacked membrane layers. Specific power and torque ratios when calculated∈ using∈active∈membrane∈mass∈only∈were∈20.8 W/kg and 4.1 Nm/kg, respectively. These numbers compare favorably with a commercially available stepper motor. Multi-membrane fabrication substantially boosts torque and power and increases the active mass of membrane relative to supporting framework. Through finite element modeling, we show the mechanisms governing the maximum torque the device can generate and how the motor can be improved..
4. Benjamin M. O'Brien, Emilio P. Calius, Tokushu Inamura, Sheng Q. Xie, Iain A. Anderson, Dielectric elastomer switches for smart artificial muscles, Applied Physics A: Solids and Surfaces, 10.1007/s00339-010-5857-z, 100, 2, 385-389, 2010.08, Some of the most exciting possibilities for dielectric elastomer artificial muscles consist of biologically inspired networks of smart actuators working towards common goals. However, the creation of these networks will only be realised once intelligence and feedback can be fully distributed throughout an artificial muscle device. Here we show that dielectric elastomer artificial muscles can be built with intrinsic sensor, control, and driver circuitry, bringing them closer in capability to their natural analogues. This was achieved by exploiting the piezoresistive behaviour of the actuator's highly compliant electrodes using what we have called the dielectric elastomer switch. We developed suitable switching material using carbon loaded silicone grease and experimentally demonstrated the primitives required for self-sensing actuators and digital computation, namely compliant electromechanical NAND gates and oscillator circuits. We anticipate that dielectric elastomer switches will reduce the need for bulky and rigid external circuitry as well as provide the simple distributed intelligence required for soft, biologically inspired networks of actuators. Examples include many-degree-of-freedom robotic hearts, intestines, and manipulators; wearable assistive devices; smart sensor skins and fabrics; and ultimately new types of artificial muscle embedded, electromechanical computers..
5. Iain A. Anderson, T. C H Tse, Tokushu Inamura, Benjamin M. O'Brien, Thomas McKay, Todd Gisby, A soft and dexterous motor, Applied Physics Letters, 10.1063/1.3565195, 98, 12, 2011.03, We present a soft, bearing-free artificial muscle motor that cannot only turn a shaft but also grip and reposition it through a flexible gear. The bearing-free operation provides a foundation for low complexity soft machines, with multiple degree-of-freedom actuation, that can act simultaneously as motors and manipulators. The mechanism also enables an artificial muscle controlled gear change. Future work will include self-sensing feedback for precision, multidegree-of-freedom operation..
6. Iain A. Anderson, Tony Chun Hin Tse, Tokushu Inamura, Benjamin O'Brien, Thomas McKay, Todd Gisby, Flexidrive
A soft artificial muscle motor, Electroactive Polymer Actuators and Devices (EAPAD) 2011 Electroactive Polymer Actuators and Devices (EAPAD) 2011, 10.1117/12.880714, 7976, 2011.05, We use our thumbs and forefingers to rotate an object such as a control knob on a stereo system by moving our finger relative to our thumb. Motion is imparted without sliding and in a precise manner. In this paper we demonstrate how an artificial muscle membrane can be used to mimic this action. This is achieved by embedding a soft gear within the membrane. Deformation of the membrane results in deformation of the polymer gear and this can be used for motor actuation by rotating the shaft. The soft motors were fabricated from 3M VHB4905 membranes 0.5mm thick that were pre-stretched equibiaxially to a final thickness of 31 μm. Each membrane had polymer acrylic soft gears inserted at the center. Sectors of each membrane (60° sector) were painted on both sides with conducting carbon grease leaving gaps between adjoining sectors to avoid arcing between them. Each sector was electrically connected to a power supply electrode on the rigid acrylic frame via narrow avenues of carbon-grease. The motors were supported in rigid acrylic frames aligned concentrically. A flexible shaft was inserted through both gears. Membranes were charged using a step wave PWM voltage signal delivered using a Biomimetics Lab EAP Control unit. Both membrane viscoelasticity and the resisting torque on the shaft influence motor speed by changing the effective circumference of the flexible gear..