JUN SHINTAKE
| Department of Mechanical and Intelligent Systems Engineering | Assistant Professor |
| Cluster II (Emerging Multi-interdisciplinary Engineering) | Assistant Professor |
Researcher Information
Degree
Field Of Study
Career
- Mar. 2023 - Present
The University of Electro-Communications, Graduate School of Informatics and Engineering, Associate Professor - Mar. 2018 - Feb. 2023
The University of Electro-Communications, Graduate School of Informatics and Engineering, Assistant Professor - Feb. 2019 - Mar. 2021
The University of Tokyo, School of Engineering, Visiting Researcher - 01 Feb. 2016 - 28 Feb. 2018
Swiss Federal Institute of Technology in Lausanne, School of Engineering, Postdoctoral Researcher - 01 Aug. 2011 - 29 Jan. 2016
Swiss Federal Institute of Technology in Lausanne, School of Engineering, Research Assistant - 01 May 2011 - 31 Jul. 2011
Japan Chemical Analysis Center, Staff
Educational Background
Member History
- Apr. 2023 - Mar. 2025
委員, サービスロボットに適したモータ要求項目の活用技術調査専門委員会 - 01 Apr. 2022 - 31 Mar. 2024
編集委員, 日本ロボット学会誌 - Apr. 2021 - Mar. 2023
幹事補佐, サービスロボットに適したモータを定義するための技術調査専門委員会 - 26 Apr. 2019 - 31 Mar. 2021
委員, サービスロボットの要求を実現する小形モータとその制御技術調査専門委員会 - 18 Nov. 2020
Associate Editor, Frontiers in Robotics and AI, Bio-Inspired Robotics - 01 Oct. 2020
Research Topic Editor, Frontiers in Robotics and AI, Soft Robotics Soft Locomotion Robotics: Design, Mechanism, and Control - 01 Jul. 2020
Review Editor, Frontiers in Robotics and AI, Soft Robotics - 01 Apr. 2020
委員, 計測自動制御学会 SI部門 ソフトマテリアル応用部会 - 01 Jul. 2019
Guest Editor, Actuators (MDPI) Special Issue "Dielectric Elastomer Actuators (DEAs)"
Research Activity Information
Award
- Mar. 2024
日本学術振興会
日本学術振興会賞 - May 2021
船井情報科学振興財団
船井研究奨励賞 - Mar. 2021
第27回「エレクトロニクスにおけるマイクロ接合・実装技術」シンポジウム
萌芽研究賞 - Sep. 2020
The Japan Society of Mechanical Engineers, Dynamics, Measurement and Control Division
Audience Award - Apr. 2020
Ministry of Education, Culture, Sports, Science and Technology
The Young Scientists’ Award, The Commendation for Science and Technology by the Minister of Education, Culture, Sports, Science and Technology - Oct. 2017
Swiss Federal Institute of Technology in Lausanne
Gilbert Hausmann Award - Mar. 2017
IOP Publishing
Outstanding Reviewer Award - Nov. 2016
National Centre of Competence in Research (NCCR) Robotics
NCCR Robotics Best PhD Paper Award - Jul. 2013
International Workshop on Soft Robotics and Morphological Computation
Best Contribution Award - May 2012
International Conference on Electromechanically Active Polymer Transducers and Artificial Muscles
Best Poster Award - Oct. 2010
JSME/RMD International Conference on Advanced Mechatronics
Best Paper Nomination Finalist
Paper
- Silicone-layered waterproof electrohydraulic soft actuators for bio-inspired underwater robots
Takumi Shibuya; Shuya Watanabe; Jun Shintake
Last, Frontiers in Robotics and AI, 11, 1298624, 14 Jun. 2024, Peer-reviwed
Scientific journal, English - Origami manipulation by robot hand utilizing electroadhesion
Hiroto Kitamori; Chenyu Dong; Masaru Takizawa; Shuya Watanabe; Jun Shintake; Kohei Kimura; Shunsuke Kudoh
ROBOMECH Journal, Springer Science and Business Media LLC, 11, 1, 08 Jun. 2024, Peer-reviwed, Abstract
This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand and simple motions. These operations are executed using a simple geometric model and without any visual feedback or physical modeling not to restrict the motions. With a few applications in the field of paper manipulation, the electroadhesion technology is employed to perform single hand grasping. Bending is realized by a single hand utilizing the elasticity of origami and friction. Folding is performed by holding an origami with more than two points to fix it at any moment for preciseness. In addition to the design of hardware and motions, operations are demonstrated with general criteria for the crease precision evaluation.
Scientific journal, English - Towards edible robots and robotic food
Dario Floreano; Bokeon Kwak; Markéta Pankhurst; Jun Shintake; Mario Caironi; Valerio F. Annese; Qiukai Qi; Jonathan Rossiter; Remko M. Boom
Nature Reviews Materials, Springer Science and Business Media LLC, 28 May 2024, Peer-reviwed
Scientific journal, English - Functional soft robotic composites based on organic photovoltaic and dielectric elastomer actuator
Ahmed Miguel Román Abolhosen; Shinyoung Lee; Kenjiro Fukuda; Takao Someya; Leobardo Hernández González; Jun Shintake
Last, Scientific Reports, Springer Science and Business Media LLC, 14, 1, 30 Apr. 2024, Peer-reviwed, Abstract
Improving the energy efficiency of robots remains a crucial challenge in soft robotics, with energy harvesting emerging as a promising approach to address it. This study presents a functional soft robotic composite called OPV-DEA, which integrates flexible organic photovoltaic (OPV) and dielectric elastomer actuator (DEA). The composite can simultaneously generate electrostatic bending actuation and harvest energy from external lights. Owing to its simplicity and inherent flexibility, the OPV-DEA is poised to function as a fundamental building block for soft robots. This study aimed to validate this concept by initially establishing the fabrication process of OPV-DEA. Subsequently, experimental samples are fabricated and characterized. The results show that the samples exhibit a voltage-controllable bending actuation of up to 15.6° and harvested power output of 1.35 mW under an incident power irradiance of 11.7 mW/cm2. These performances remain consistent even after 1000 actuation cycles. Finally, to demonstrate the feasibility of soft robotic applications, an untethered swimming robot equipped with two OPV-DEAs is fabricated and tested. The robot demonstrates swimming at a speed of 21.7 mm/s. The power consumption of the robot is dominated by a high-voltage DC-DC converter, with a value approximately 1.5 W. As a result, the on-board OPVs cannot supply the necessary energy during locomotion simultaneously. Instead, they contribute to the overall system by charging a battery used for the controller on board. Nevertheless, these findings suggest that the OPV-DEA could pave the way for the development of an unprecedented range of functional soft robots.
Scientific journal, English - Edible Soft Actuators Based on Konjac Glucomannan for Underwater Operation
Ryo Kanno; Bokeon Kwak; Markéta Pankhurst; Jun Shintake; Dario Floreano
Advanced Intelligent Systems, Wiley, 6, 5, 2300473, 08 Mar. 2024, Peer-reviwed, Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predominantly manufactured using silicones and acrylic elastomers, which pose environmental risks due to their limited biodegradability. To tackle this issue, a method for manufacturing water‐resistant, liquid‐driven soft actuators made from a novel type of konjac glucomannan (KGM) is presented, which is plant‐derived, insoluble, and edible. The material offers impressive stretchability, reaching up to 67.2% of its initial length, surpassing previous related work, and withstands over a 1000 cycles of tensile stress. Using this material, we develop soft actuators that can bend up to 47.1°, and the maximum blocking force of 0.1 N is achieved with a pressure input of 20 kPa. A gripper that is capable of grasping various objects underwater is also evaluated. In essence, this article introduces a sustainable and environmentally friendly alternative to conventional soft robotic materials, paving the way for innovative and eco‐conscious underwater applications. The utilization of edible, water‐resistant materials like konjac provides a promising solution to reduce pollution and mitigate negative environmental impacts associated with traditional underwater soft robots.
Scientific journal, English - Silicone-based highly stretchable multifunctional fiber pumps
Ryo Kanno; Keita Shimizu; Kazuya Murakami; Yuya Shibahara; Naoki Ogawa; Hideko Akai; Jun Shintake
Last, Scientific Reports, Springer Science and Business Media LLC, 14, 1, 4618, 26 Feb. 2024, Peer-reviwed, Abstract
Recent advancements on electrohydrodynamic (EHD) soft pumps demonstrate their applicability to various fluid-driven systems such as soft robots, wearable devices, and stretchable electronics. In particular, fiber type EHD pumps reported more recently is a promising pumping element thanks to their versatile fibrous structure. Yet existing EHD fiber pumps are less stretchable and require sophisticated, complex fabrication equipment, implying opportunity for technology advancement. This paper presents a simplified method to create highly stretchable multifunctional fiber EHD pumps. The method employs highly compliant silicone elastomers for the fiber structure that is formed by simple dipping fabrication process. The fabricated pumps (length of 100 mm, inner diameter 4 mm, and mass 5.3 g) exhibit a high stretchability (up to 40% strain) and flow rate and pressure of 167.4 ± 7.6 mL/min (31.6 mL/min/g) and 4.1 ± 0.6 kPa (0.8 kPa/g), respectively. These performances are comparable or even higher than those of previously reported EHD pumps including fiber types. The output performance of the fabricated pumps remain constant for repeated strain cycles (0–25%, up to 2000 cycles) and bending angle up to 180° (corresponding to curvature of 0–30/m). Moreover, the pumps demonstrate unprecedented functionality as a sensor to distinguish the type of fluid inside the tube and to detect strains by reading the capacitance between the electrodes. The characterization result reveals the sensing ability of the pumps as high repeatability up to 30% strain with negligible hysteresis, which is consistent for 5000 cycles.
Scientific journal - Fast‐Response Variable‐Stiffness Magnetic Catheters for Minimally Invasive Surgery
Yegor Piskarev; Yi Sun; Matteo Righi; Quentin Boehler; Christophe Chautems; Cedric Fischer; Bradley J. Nelson; Jun Shintake; Dario Floreano
Advanced Science, Wiley, 11, 12, 15 Jan. 2024, Peer-reviwed, Abstract
In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable‐stiffness materials can enable higher dexterity and higher force application to human tissue. However, the long transition time between soft and rigid states leads to a significant increase in procedure duration. Here, a fast‐response, multisegmented catheter is described for minimally invasive surgery made of variable‐stiffness thread (FRVST) that encapsulates a helical cooling channel. The rapid stiffness change in the FRVST, composed of a nontoxic shape memory polymer, is achieved by an active cooling system that pumps water through the helical channel. The FRVST displays a 66 times stiffness change and a 26 times transition enhancement compare with the noncooled version. The catheter allows for selective bending of each segment up to 127° in air and up to 76° in water under an 80 mT external magnetic field. The inner working channel can be used for cooling an ablation tip during a procedure and for information exchange via the deployment of wires or surgical tools.
Scientific journal - Robot locomotion by fluid–fluid interaction
Hiroto Kitamori; Shunsuke Kudoh; Jun Shintake
Last, Scientific Reports, Springer Science and Business Media LLC, 13, 1, 11 Dec. 2023, Peer-reviwed, Abstract
This paper describes a locomotion strategy for robots based on the interaction between two fluids, through the development of an untethered mobile robot. The fundamental principle of robot locomotion is to exploit the active deformations of ferrofluid caused by internal magnetic fields, which generate reaction forces to the surrounding fluid (in this study, water). The developed robot is equipped with two permanent magnets (PMs), two electromagnets (EMs), two clusters of ferrofluid, and a control unit with batteries. It has a length, width, and mass of 107 mm, 94 mm, and 127 g, respectively. In the robot, PMs are used to hold clusters of ferrofluid. The activation of EMs by the controller achieves forward and rotational movements of the robot. Experimental results show the forward speed and rotational speed in water to be 2.7 mm/s (at a driving frequency of 9 Hz) and 1.2°/s (at a driving frequency of 7 Hz), respectively. The measured thrust force of the robot is 2 mN, further supporting the concept of robot locomotion by fluid–fluid interaction.
Scientific journal - Biodegradable Electrohydraulic Soft Actuators
Ryo Kanno; Fabio Caruso; Kazuma Takai; Yegor Piskarev; Vito Cacucciolo; Jun Shintake
Last, Advanced Intelligent Systems, Wiley, 5, 9, 02 Jun. 2023, Peer-reviwed, Biodegradable materials decompose and return to nature. This functionality can be applied to derive robotic systems that are environmentally friendly. This study presents a fully biodegradable soft actuator, which is one of the key elements in “green” soft robotics. The working of the actuator is based on an electrohydraulic principle, which is similar to that of hydraulically amplified self‐healing electrostatic actuators. The actuator developed in this study consists of a dielectric film made of polylactic acid (PLA) and polybutylene adipate‐co‐terephthalate (PBAT), with soybean oil as the dielectric liquid and electrodes made from a mixture of gelatin, glycerol, and sodium chloride (NaCl). The synthesized biodegradable electrode material exhibits a Young's modulus of 0.06 MPa and resistivity of 258 Ω·m when the mass fraction of NaCl relative to the amount of gelatin and glycerol is 10 wt%. The softness and resistivity of the electrode material results in actuation strain values of 3.2% (at 1 kV, corresponding to 1.2 kV mm−1) and 18.6% (at 10 kV, corresponding to 9.6 kV mm−1) for the linear‐type and circular‐type actuators, respectively. These values obtained for the biodegradable electrohydraulic soft actuators are comparable to those of nonbiodegradable actuators of the same type, representing the successful implementation of the concept.
Scientific journal - Peristaltic pumps based on polyvinyl chloride gel actuator
Tomoki Motohashi; Naoki Ogawa; Hideko Akai; Jun Shintake
Last, Electroactive Polymer Actuators and Devices (EAPAD) XXV, SPIE, 28 Apr. 2023, Peer-reviwed
International conference proceedings - Polyvinyl chloride-added dibutyl adipate for high-performance electrohydrodynamic pumps
Keita Shimizu; Kazuya Murakami; Naoki Ogawa; Hideko Akai; Jun Shintake
Last, Frontiers in Robotics and AI, Frontiers Media SA, 10, 29 Mar. 2023, Peer-reviwed, Electrohydrodynamic (EHD) pumps are a promising driving source for various fluid-driven systems owing to features such as simple structure and silent operation. The performance of EHD pumps depends on the properties of the working fluid, such as conductivity, viscosity, and permittivity. This implies that the tuning of these parameters in a working fluid can enhance the EHD performance. This study reports a method to modify the properties of a liquid for EHD pumps by mixing an additive. Specifically, dibutyl adipate (DBA) and polyvinyl chloride (PVC) are employed as the working fluid and the additive, respectively. The results show that when the concentration of PVC is 0.2%, the flow rate and pressure at applied voltage of 8 kV take highest value of 7.85 μL/s and 1.63 kPa, respectively. These values correspond to an improvement of 109% and 40% for the flow rate and pressure, respectively, compared to the pure DBA (PVC 0%). When the voltage is 10 kV, the flow rate of 10.95 μL/s and the pressure of 2.07 kPa are observed for DBA with PVC concentration of 0.2%. These values are more than five times higher than those observed for FC40 at the same voltage (2.02 μL/s and 0.32 kPa). The results also suggest that optimal conductivity and viscosity values exist for maximizing the EHD performance of a liquid. This demonstrates the validity of the proposed method for realizing high-performance EHD pumps by using additives in the working fluid.
Scientific journal, English - A Soft Gripper with Granular Jamming and Electroadhesive Properties
Yegor Piskarev; Antoine Devincenti; Vivek Ramachandran; Pierre-Etienne Bourban; Michael D. Dickey; Jun Shintake; Dario Floreano
Advanced Intelligent Systems, Wiley, 2200409-2200409, 16 Mar. 2023, Peer-reviwed
Scientific journal, English - Soft-body dynamics induces energy efficiency in undulatory swimming: A deep learning study
Guanda Li; Jun Shintake; Mitsuhiro Hayashibe
Frontiers in Robotics and AI, Frontiers Media SA, 10, 09 Feb. 2023, Peer-reviwed, Recently, soft robotics has gained considerable attention as it promises numerous applications thanks to unique features originating from the physical compliance of the robots. Biomimetic underwater robots are a promising application in soft robotics and are expected to achieve efficient swimming comparable to the real aquatic life in nature. However, the energy efficiency of soft robots of this type has not gained much attention and has been fully investigated previously. This paper presents a comparative study to verify the effect of soft-body dynamics on energy efficiency in underwater locomotion by comparing the swimming of soft and rigid snake robots. These robots have the same motor capacity, mass, and body dimensions while maintaining the same actuation degrees of freedom. Different gait patterns are explored using a controller based on grid search and the deep reinforcement learning controller to cover the large solution space for the actuation space. The quantitative analysis of the energy consumption of these gaits indicates that the soft snake robot consumed less energy to reach the same velocity as the rigid snake robot. When the robots swim at the same average velocity of 0.024 m/s, the required power for the soft-body robot is reduced by 80.4% compared to the rigid counterpart. The present study is expected to contribute to promoting a new research direction to emphasize the energy efficiency advantage of soft-body dynamics in robot design.
Scientific journal, English - Modeling and Characterization of Tensegrity Structures Integrating Dielectric Elastomer Actuators
Shuya Watanabe; Yusuke Ikemoto; Jun Shintake
Advanced Engineering Materials, Wiley, 25, 8, 18 Jan. 2023, Tensegrity structures, architectures that consist of elastic cables and rigid rods, have attracted attention as a building block of robots because of their compliance, lightweight properties, and mechanical robustness. This article describes a method to create electroactive tensegrity structures that employs a dielectric elastomer actuator (DEA) as the actuation principle. Two different types of DEA‐tensegrities are considered herein: a membrane type and a cable type. In these devices, DEAs are made of an acrylic elastomer (3 m, VHB 4905) and a stretchable conductive film (Adhesives Research, ARcare 90336) used as dielectric and electrode layers, respectively. An analytical model of DEA‐tensegrities is built that guides the fabrication of experimental devices. The fabricated DEA‐tensegrities are characterized by the actuation strain in the height direction. As a result, voltage‐controlled actuation strains of 7.5% and 2.0% are observed at 10 kV for membrane type and cable type DEA‐tensegrity, respectively, while the model prediction captures the actuation characteristics.
Scientific journal - Stretchable and soft electroadhesion and capacitive sensors enabled by spider web-inspired interdigitated liquid metal subsurface microwires
Siyeon Kim; Sangmin Lee; Priyanuj Bhuyan; Yuwen Wei; Sihyun Kim; Keita Shimizu; Jun Shintake; Sungjune Park
Chemical Engineering Journal, Elsevier BV, 456, 141018-141018, 15 Jan. 2023, Peer-reviwed
Scientific journal, English - Peristaltic micropump using polyvinyl chloride gels with micropatterned surface
Tomoki Motohashi; Naoki Ogawa; Hideko Akai; Jun Shintake
Last, Scientific Reports, Springer Science and Business Media LLC, 12, 1, 30 Dec. 2022, Peer-reviwed, Abstract
This paper presents a pump using polyvinyl chloride (PVC) gel. PVC gels are compliant, have a simple structure, and exhibit large deformation at voltages in the range of 100–1000 V, which make them suitable for micropumps. In this study, a PVC gel sheet with a surface pattern that enhances active deformation in the thickness direction was employed for the fabrication of a pump. To this end, the PVC gel sheet was sandwiched between three sets of anode and cathode electrodes, after which voltages were sequentially applied to these electrodes to generate a peristaltic deformation of the gel sheet, thus pushing the liquid and creating a one-directional flow. Various pumps were fabricated using PVC gel sheets with different surface patterns, and the pumps were characterized. The pumps exhibited an outline dimension of 35 mm × 25 mm with a thickness of 4 mm, corresponding to a total volume of 3.5 × 103 mm3. The results revealed that the pump fabricated using a 174-μm-high pyramid-patterned gel sheet generated a flow rate of 224.1 µL/min at an applied voltage of 800 V and a driving frequency of 3 Hz. This observed value is comparable to or better than those of existing pumps based on smart materials.
Scientific journal, English - Rolled Dielectric Elastomer Antagonistic Actuators for Biomimetic Underwater Robots
Toshiaki Nagai; Jun Shintake
Last, Polymers, MDPI AG, 14, 21, 4549-4549, 27 Oct. 2022, Peer-reviwed, In this study, an antagonistic actuator using dielectric elastomer actuators (DEAs) is developed to investigate the use of rolled DEAs in underwater robots. The actuator consists of a backbone, an elastic hinge, and two rolled DEAs placed in an antagonistic fashion, allowing for the generation of bidirectional movements of the actuator tip. To prove this concept, an analytical model of the actuator is built. The experimental samples are fabricated based on the specification determined by the model. In the fabricated actuator, each rolled DEA has a diameter of 6 mm and a length of 21 mm. The whole device weighs 1.7 g. In the tested voltage range of 0–1200 V, the actuator exhibits a voltage-controllable angle and torque of up to 2.2° and 11.3 mN∙mm, respectively. The actuator is then implemented into a swimming robot, which shows forward speed of 0.9 mm/s at the applied voltage of 1000 V and the driving frequency of 10 Hz. The results demonstrate the feasibility of using rolled DEAs in underwater robots.
Scientific journal, English - Towards edible drones for rescue missions: design and flight of nutritional wings
Bokeon Kwak; Jun Shintake; Lu Zhang; Dario Floreano; Equal contribution
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 23 Oct. 2022, Peer-reviwed
International conference proceedings, English - Enhancement of Pressure‐Sensitive Adhesive by CO 2 Laser Treatment
Yegor Piskarev; Etienne Desbouis; Vivek Ramachandran; Jiayi Yang; Neil Baugh; Jun Shintake; Michael D. Dickey; Dario Floreano
Advanced Engineering Materials, Wiley, 24, 10, 2200355-2200355, 14 May 2022, Peer-reviwed
Scientific journal, English - Green Robotics: Toward Realization of Environmentally Friendly Soft Robots
Jun Shintake
Lead, Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., 34, 2, 270-272, 20 Apr. 2022, Peer-reviwed, An important research direction in soft robotics could be the realization of environmentally friendly “green” soft robots that are biodegradable, sustainable, and recyclable. We present recent findings from our ongoing research on biodegradable robotic devices made of gelatin-based materials and discuss future directions in this contribution.
Scientific journal, English - Tensegrity structures using dielectric elastomer cables
Shuya Watanabe; Yusuke Ikemoto; Jun Shintake
Last, Electroactive Polymer Actuators and Devices (EAPAD) XXIV, SPIE, 20 Apr. 2022, Peer-reviwed
International conference proceedings, English - Simultaneous measurement of strain and proximity by a single capacitance-based soft sensor
Takahiro Matsuno; Rikuya Miyagoshi; Keita Shimizu; Mana Ishihara; Shuya Watanabe; Jun Shintake; Kaspar Althoefer; Shinichi Hirai
IEEE 5th International Conference on Soft Robotics (RoboSoft), ThPo2S.13, 07 Apr. 2022, Peer-reviwed
International conference proceedings, English - Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor
Takahiro Matsuno; Rikuya Miyagoshi; Keita Shimizu; Mana Ishihara; Shuya Watanabe; Jun Shintake; Kaspar Althoefer; Shinichi Hirai
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), IEEE, 04 Apr. 2022
International conference proceedings - A Variable Stiffness Magnetic Catheter Made of a Conductive Phase‐Change Polymer for Minimally Invasive Surgery
Yegor Piskarev; Jun Shintake; Christophe Chautems; Jonas Lussi; Quentin Boehler; Bradley J. Nelson; Dario Floreano
Advanced Functional Materials, Wiley, 32, 20, 2107662-2107662, 06 Feb. 2022, Peer-reviwed
Scientific journal, English - Characterization of slide ring materials for dielectric elastomer actuators
Jun Shintake; Koya Matsuno; Shohei Kumegawa; Kazumasa Baba; Hiromitsu Takeuchi
Lead, Smart Materials and Structures, IOP Publishing, 31, 2, 025028-025028, 19 Jan. 2022, Peer-reviwed, Abstract
This paper investigates the characteristics of sliding ring materials (SRMs), which are promising elastomeric materials for dielectric elastomer actuators (DEAs). Two different types of SRMs with Young’s modulus of 0.8 MPa and 3.3 MPa, respectively, are prepared, and their material and mechanical properties and electro-mechanical performances at electric fields of up to 30 V µm−1 are characterized. For comparison, the same tests are also performed on several commercially available elastomers: Elastosil 2030, Ecoflex 00-30, CF19-2186, and VHB 4905. The results reveal that SRMs demonstrate negligible Mullins effect and hysteresis, while their dielectric strength (62.4–112.4 V µm−1) and viscoelasticity ($\tan \delta $ 0.07–0.24 at 10 Hz) are comparable or even superior to those of other elastomers. In addition, elongation at break is found to be 163.8%–172.1%. SRMs exhibit excellent electro-mechanical performance; for instance, one of the two types has an actuation force 293.2 mN at 24.9 V µm−1 and a strain of 5.2% at 22.3 V µm−1. These values are the largest or larger than most of the tested elastomers. The high performance of SRMs results from their dielectric constant, which ranges from 10.3 to 13.4, leading to an electro-mechanical sensitivity of up to 15.3 MPa−1. These results illustrate SRMs as attractive material options for DEAs.
Scientific journal, English - Dielectric Elastomer Fiber Actuators with Aqueous Electrode
Keita Shimizu; Toshiaki Nagai; Jun Shintake
Last, Polymers, MDPI AG, 13, 24, 4310-4310, 09 Dec. 2021, Peer-reviwed, Dielectric elastomer actuators (DEAs) are one of the promising actuation technologies for soft robotics. This study proposes a fiber-shaped DEA, namely dielectric elastomer fiber actuators (DEFAs). The actuator consisted of a silicone tube filled with the aqueous electrode (sodium chloride solution). Furthermore, it could generate linear and bending actuation in a water environment, which acts as the ground side electrode. Linear-type DEFA and bending-type DEFA were fabricated and characterized to prove the concept. A mixture of Ecoflex 00–30 (Smooth-On) and Sylgard 184 (Dow Corning) was employed in these actuators for the tube part, which was 75.0-mm long with outer and inner diameters of 6.0 mm and 5.0 mm, respectively. An analytical model was constructed to design and predict the behavior of the devices. In the experiments, the linear-type DEFA exhibited an actuation strain and force of 1.3% and 42.4 mN, respectively, at 10 kV (~20 V/µm) with a response time of 0.2 s. The bending-type DEFA exhibited an actuation angle of 8.1° at 10 kV (~20 V/µm). Subsequently, a jellyfish-type robot was developed and tested, which showed the swimming speed of 3.1 mm/s at 10 kV and the driving frequency of 4 Hz. The results obtained in this study show the successful implementation of the actuator concept and demonstrate its applicability for soft robotics.
Scientific journal, English - Monolithic Stacked Dielectric Elastomer Actuators
Jun Shintake; Daiki Ichige; Ryo Kanno; Toshiaki Nagai; Keita Shimizu
Lead, Frontiers in Robotics and AI, Frontiers Media SA, 8, 25 Nov. 2021, Peer-reviwed, Dielectric elastomer actuators (DEAs) are a promising actuator technology for soft robotics. As a configuration of this technology, stacked DEAs afford a muscle-like contraction that is useful to build soft robotic systems. In stacked DEAs, dielectric and electrode layers are alternately stacked. Thus, often a dedicated setup with complicated processes or sometimes laborious manual stacking of the layers is required to fabricate stacked actuators. In this study, we propose a method to monolithically fabricate stacked DEAs without alternately stacking the dielectric and electrode layers. In this method, the actuators are fabricated mainly through two steps: 1) molding of an elastomeric matrix containing free-form microfluidic channels and 2) injection of a liquid conductive material that acts as an electrode. The feasibility of our method is investigated via the fabrication and characterization of simple monolithic DEAs with multiple electrodes (2, 4, and 10). The fabricated actuators are characterized in terms of actuation stroke, output force, and frequency response. In the actuators, polydimethylsiloxane (PDMS) and eutectic gallium–indium (EGaIn) are used for the elastomeric matrix and electrode material, respectively. Microfluidic channels are realized by dissolving a three-dimensional printed part suspended in the elastomeric structure. The experimental results show the successful implementation of the proposed method and the good agreement between the measured data and theoretical predication, validating the feasibility of the proposed method.
Scientific journal, English - Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation
Toshiaki Nagai; Ashitaka Kurita; Jun Shintake
Last, Frontiers in Robotics and AI, Frontiers Media SA, 8, 24 Nov. 2021, Peer-reviwed, Biodegradability is an important property for soft robots that makes them environmentally friendly. Many biodegradable materials have natural origins, and creating robots using these materials ensures sustainability. Hence, researchers have fabricated biodegradable soft actuators of various materials. During microbial degradation, the mechanical properties of biodegradable materials change; these cause changes in the behaviors of the actuators depending on the progression of degradation, where the outputs do not always remain the same against identical inputs. Therefore, to achieve appropriate operation with biodegradable soft actuators and robots, it is necessary to reflect the changes in the material properties in their design and control. However, there is a lack of insight on how biodegradable actuators change their actuation characteristics and how to identify them. In this study, we build and validate a framework that clarifies changes in the mechanical properties of biodegradable materials; further, it allows prediction of the actuation characteristics of degraded soft actuators through simulations incorporating the properties of the materials as functions of the degradation rates. As a biodegradable material, we use a mixture of gelatin and glycerol, which is fabricated in the form of a pneumatic soft actuator. The experimental results show that the actuation performance of the physical actuator reduces with the progression of biodegradation. The experimental data and simulations are in good agreement (R2 value up to 0.997), thus illustrating the applicability of our framework for designing and controlling biodegradable soft actuators and robots.
Scientific journal, English - Fiber-reinforced soft polymeric manipulator with smart motion scaling and stiffness tunability
Junshi Zhang; Lei Liu; Yuyu Chen; Mingliang Zhu; Liling Tang; Chao Tang; Jun Shintake; Junjie Zhao; Jiankang He; Xiaoyong Ren; Pengfei Li; Qiang Huang; Huichan Zhao; Jian Lu; Dichen Li
Cell Reports Physical Science, Elsevier BV, 2, 10, 100600-100600, Oct. 2021, Peer-reviwed
Scientific journal, English - Self-Sensing McKibben Artificial Muscles Embedded With Dielectric Elastomer Sensor
Ryo Kanno; Shuya Watanabe; Keita Shimizu; Jun Shintake
Last, IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 6, 4, 6274-6280, Oct. 2021, Peer-reviwed
Scientific journal, English - Development of an underwater robot that realizes invisibility with ubiquities environmental objects
Makoto Shimanokami; Masaki Yurugi; Jun Shintake; Yusuke Ikemoto
International Conference on Advanced Mechatronics (ICAM), GS2-4, 01 Jul. 2021, Peer-reviwed
International conference proceedings, English - Investigation of a gait to body stiffness variations for tensegrity-spine quadruped robot
Yusuke Hayashi; Koji Onishi; Jun Shintake; Yusuke Ikemoto
International Conference on Advanced Mechatronics (ICAM), GS6-3, 01 Jul. 2021, Peer-reviwed
International conference proceedings, English - Stretchable and Soft Electroadhesion Using Liquid‐Metal Subsurface Microelectrodes
Sungjune Park; Jun Shintake; Yegor Piskarev; Yuwen Wei; Ishan Joshipura; Ethan Frey; Taylor Neumann; Dario Floreano; Michael D. Dickey
Advanced Materials Technologies, Wiley, 6, 9, 2100263-2100263, 25 Jun. 2021, Peer-reviwed
Scientific journal, English - Development of tensegrity-spine joints realizing instantaneous motions with a mechanical-action potential
Masanari Harada; Jun Shintake; Yusuke Ikemoto
International Symposium on SWARM Behavior and Bio-inspired Robotics, -, 01 Jun. 2021, Peer-reviwed
International conference proceedings, English - Deep reinforcement learning framework for underwater locomotion of soft robot
Guanda Li; Jun Shintake; Mitsuhiro Hayashibe
IEEE International Conference on Robotics and Automation (ICRA), 12033-12039, 30 May 2021, Peer-reviwed
International conference proceedings, English - Cartilage structure increases swimming efficiency of underwater robots
Masaki Yurugi; Makoto Shimanokami; Toshiaki Nagai; Jun Shintake; Yusuke Ikemoto
Scientific Reports, Springer Science and Business Media LLC, 11, 1, 28 May 2021, Peer-reviwed, Abstract
Underwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and softness of aquatic animals are expected to be more adaptable to the surrounding environment. Rajiform is one of the swimming forms observed in nature, which swims by generating the traveling waves on flat large pectoral fins. From an anatomical point of view, Rajiform fins consist of cartilage structures encapsulated in soft tissue, thereby realizing anisotropic stiffness. We hypothesized that such anisotropy is responsible for the generation of traveling waves that enable a highly efficient swimming. We validate our hypothesis through the development of a stingray robot made of silicone-based cartilages and soft tissue. For comparison, we fabricate a robot without cartilages, as well as the one combining soft tissue and cartilage materials. The fabricated robots are tested to clarify their stiffness and swimming performance. The results show that inclusion of cartilage structure in the robot fins increases the swimming efficiency. It is suggested that arrangement and distribution of soft and hard areas inside the body structure is a key factor to realize high-performance soft underwater robots.
Scientific journal, English - Pneumatic artificial muscles embedded with dielectric elastomer sensor
Ryo Kanno; Shuya Watanabe; Keita Shimizu; Jun Shintake
Last, Electroactive Polymer Actuators and Devices (EAPAD) XXIII, SPIE, 22 Mar. 2021, Peer-reviwed
International conference proceedings, English - Active tensegrity structures based on dielectric elastomer actuators
Shuya Watanabe; Yusuke Ikemto; Jun Shintake
Last, Electroactive Polymer Actuators and Devices (EAPAD) XXIII, SPIE, 22 Mar. 2021, Peer-reviwed
International conference proceedings, English - 誘電エラストマーアクチュエータのソフトロボティクスへの応用
新竹純
計測と制御, 59, 11, 841-846, 20 Nov. 2020, Peer-reviwed, Invited
Scientific journal, Japanese - Lighter and Stronger: Cofabricated Electrodes and Variable Stiffness Elements in Dielectric Actuators
Yegor Piskarev; Jun Shintake; Vivek Ramachandran; Neil Baugh; Michael D. Dickey; Dario Floreano
Advanced Intelligent Systems, Wiley, 2, 10, 2000069-2000069, 23 Jul. 2020, Peer-reviwed
Scientific journal, English - A method to fabricate monolithic dielectric elastomer actuators
Daiki Ichige; Koya Matsuno; Kazumasa Baba; Genki Sago; Hiromitsu Takeuchi; Jun Shintake
Last, Electroactive Polymer Actuators and Devices (EAPAD) XXII, SPIE, 22 Apr. 2020, Peer-reviwed
International conference proceedings, English - Delicate yet strong: characterizing the electro-adhesion lifting force with a soft gripper
Vito Cacucciolo; Jun Shintake; Herbert Shea
IEEE International Conference on Soft Robotics (RoboSoft), 108-113, 18 Apr. 2019, Peer-reviwed
International conference proceedings, English - Characterization of dielectric elastomer actuators made of slide ring materials
Jun Shintake; Koya Matsuno; Kazumasa Baba; Hiromitsu Takeuchi
Lead, Electroactive Polymer Actuators and Devices (EAPAD) XXI, SPIE, 13 Mar. 2019, Peer-reviwed
International conference proceedings, English - Bioinspired dual-stiffness origami
Stefano Mintchev; Jun Shintake; Dario Floreano
Science Robotics, 3, 20, eaau0275, 25 Jul. 2018, Peer-reviwed
Scientific journal, English - Variable stiffness strip with strain sensing for wearable robotics
Alice Tonazzini; Jun Shintake; Carine Rognon; Vivek Ramachandran; Stefano Mintchev; Dario Floreano
IEEE International Conference on Soft Robotics (RoboSoft), 485-490, 24 Apr. 2018, Peer-reviwed
International conference proceedings, English - Ultrastretchable Strain Sensors Using Carbon Black‐Filled Elastomer Composites and Comparison of Capacitive Versus Resistive Sensors
Jun Shintake; Yegor Piskarev; Seung Hee Jeong; Dario Floreano
Lead, Advanced Materials Technologies, Wiley, 3, 3, 1700284-1700284, 27 Dec. 2017, Peer-reviwed
Scientific journal, English - Soft pneumatic gelatin actuator for edible robotics
Jun Shintake; Harshal Sonar; Egor Piskarev; Jamie Paik; Dario Floreano
Lead, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6221-6226, 24 Sep. 2017, Peer-reviwed
International conference proceedings, English - Development of bio-inspired underwater robot with adaptive morphology capable of multiple swimming modes
Thibaut Paschal; Jun Shintake; Stefano Mintchev; Dario Floreano
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4197-4202, 24 Sep. 2017, Peer-reviwed
International conference proceedings, English - Bio-inspired tensegrity soft modular robots
Davide Zappetti; Stefano Mintchev; Jun Shintake; Dario Floreano
The 6th International Conference on Biomimetic and Biohybrid Systems, 497-508, 16 Jul. 2017, Peer-reviwed
International conference proceedings, English - Foldable drones: from biology to technology
Dario Floreano; Stefano Mintchev; Jun Shintake
SPIE Proceedings, SPIE, 01 May 2017, Peer-reviwed
International conference proceedings, English - Variable Stiffness Fiber with Self-Healing Capability
Alice Tonazzini; Stefano Mintchev; Bryan Schubert; Barbara Mazzolai; Jun Shintake; Dario Floreano
ADVANCED MATERIALS, WILEY-V C H VERLAG GMBH, 28, 46, 10142-10148, Dec. 2016, Peer-reviwed, A variable stiffness fiber made of silicone and low melting point alloys quickly becomes > 700 times softer and > 400 times more deformable when heated above 62 degrees C. It shows remarkable self-healing properties and can be clamped, knitted, and bonded, as shown in a foldable multi-purpose drone, a wearable cast for bone injuries, and a soft multi-directional actuator.
Scientific journal, English - Variable stiffness actuator for soft robotics using dielectric elastomer and low-melting-point alloy
Jun Shintake; Bryan Schubert; Samuel Rosset; Herbert Shea; Dario Floreano
Lead, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Sep. 2015, Peer-reviwed
International conference proceedings - Rollable Multisegment Dielectric Elastomer Minimum Energy Structures for a Deployable Microsatellite Gripper
Oluwaseun A. Araromi; Irina Gavrilovich; Jun Shintake; Samuel Rosset; Muriel Richard; Volker Gass; Herbert R. Shea
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 20, 1, 438-446, Feb. 2015, Peer-reviwed, Debris in space presents an ever-increasing problem for spacecraft in Earth orbit. As a step in the mitigation of this issue, the CleanSpace One (CSO) microsatellite has been proposed. Its mission is to perform active debris removal of a decommissioned nanosatellite (the CubeSat SwissCube). An important aspect of this project is the development of the gripper system that will entrap the capture target. We present the development of rollable dielectric elastomer minimum energy structures (DEMES) as the main component of CSO's deployable gripper. DEMES consist of a prestretched dielectric elastomer actuator membrane bonded to a flexible frame. The actuator finds equilibrium in bending when the prestretch is released and the bending angle can be changed by the application of a voltage bias. The inherent flexibility and lightweight nature of the DEMES enables the gripper to be stored in a rolled-up state prior to deployment. We fabricated proof-of-concept actuators of three different geometries using a robust and repeatable fabrication methodology. The resulting actuators were mechanically resilient to external deformation, and display conformability to objects of varying shapes and sizes. Actuator mass is less than 0.65 g and all the actuators presented survived the rolling-up and subsequent deployment process. Our devices demonstrate a maximum change of bending angle of more than 60 degrees and a maximum gripping (reaction) force of 2.2 mN for a single actuator.
Scientific journal, English - DEA for soft robotics: 1-gram actuator picks up a 60-gram egg
Jun Shintake; Samuel Rosset; Bryan Schubert; Stefano Mintchev; Dario Floreano; Herbert Shea
Lead, ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2015, SPIE-INT SOC OPTICAL ENGINEERING, 9430, 94301S, 2015, Peer-reviwed, We introduce a soft actuator for grippers using DEA capable of bending actuation. The actuator is also able to generate the electro-adhesion by the fringe field formed at the edges of the electrodes. The adhesion improves the holding force and ensures the conformation of the structure to the object. After the characterization of the actuator, we develop a 2-finger soft gripper capable of holding various objects. The gripper has a mass of around 1 g, and consists of a few cm long actuation parts, realizing simple open-close movement. The compliance of the gripper leads to conformation of the structure against the object surface, which is proven by successful handling of objects with different geometries such as a toothbrush, a flat paper, and a ping pong ball. The effect of the electro-adhesion is visible when the paper is held with its flat shape meaning that an adhesion force against gravity exists. Also, by the fact that the conformed structure increases the contact area, the holding force is improved while avoiding damaging the object, which is highlighted by the ability to hold a raw egg weighing around 60 g. This soft gripper, combining both actuation and electro-adhesion, illustrates the potential use of DEA for soft robotics.
International conference proceedings, English - Towards a deployable satellite gripper based on multisegment dielectric elastomer minimum energy structures
O. A. Araromi; I. Gavrilovich; J. Shintake; S. Rosset; H. R. Shea
SPIE Proceedings, SPIE, 08 Mar. 2014, Peer-reviwed
International conference proceedings, English - Effect of mechanical parameters on dielectric elastomer minimum energy structures
Jun Shintake; Samuel Rosset; Dario Floreano; Herbert R. Shea
Lead, SPIE Proceedings, SPIE, 09 Apr. 2013, Peer-reviwed
International conference proceedings, English - Structural design and dynamic analysis of robotic fish with piezoelectric fiber composite
Wenjing Zhao; Aiguo Ming; Makoto Shimojo; Jun Shintake
2012 9th France-Japan & 7th Europe-Asia Congress on Mechatronics (MECATRONICS) / 13th Int'l Workshop on Research and Education in Mechatronics (REM), IEEE, Nov. 2012, Peer-reviwed
International conference proceedings, English - Precision Improvement of Gear Measuring Machine (1st report):- Influence of the measuring force -
Taguchi Tetsuya; Shintake Jun; Ming Aiguo; Shimojo Makoto
Proceedings of JSPE Semestrial Meeting, The Japan Society for Precision Engineering, 2012, 931-932, 2012, The high precision gears are strongly required for advanced motion and power transmission, and high precision gear measuring machine (GMM) has been developed recently. The establishment of the traceability system has been needed, and the charactristic improvement of the detector has been needed. In this paper, the deviation factor in case of measuring a simple form artifact is analyzed, the control method which makes measuring force constant is proposed in order to reduce the influence, and the effectiveness is confirmed by experimental results.
Japanese - Development of underwater robots using piezoelectric fiber composite -diversification of propulsion movement by single fin structure-
Jun Shintake; Aiguo Ming; Makoto Shimojo
Lead, JSME/RMD International Conference on Advanced Mechatronics(ICAM), The Japan Society of Mechanical Engineers, 2010, 124-128, 04 Oct. 2010, Peer-reviwed, Fish type underwater robots have a lot of possibilities such as good mobility and high efficiency. Most of the fish type robots developed up to now have complicated mechanisms with complicated motion control. It results in that the structure and the movement of robots are different from those of fishes. The purpose of our work is to develop creaturelike flexible underwater robots by using piezoelectric fiber composite. Compared with conventional artificial muscular underwater robots, powerful underwater robots with a very simple structure can be composed by the piezoelectric fiber composite. This paper describes the development of a flexible underwater robot with pectoral fin propulsion like ray and mode shape propulsion of structural vibration, which can generate various movements.
International conference proceedings, English
Books and other publications
- The science of soft robots : design, materials and information processing
鈴森, 康一; 福田, 憲二郎; 新山, 龍馬; 中嶋, 浩平
English, Chapter 8, Chapter 10, xvi, 406 p., Springer, Sep. 2023, 9789811951732 - 持続可能な社会を支えるゴム・エラストマー：新素材・自己修復・強靱化と最先端評価技術 (CSJカレントレビュー 46)
日本化学会
Japanese, Contributor, 208, 化学同人, 28 Mar. 2023, 475981406X - ソフトロボット学入門: 基本構成と柔軟物体の数理
鈴森 康一; 中嶋 浩平; 新山 龍馬; 舛屋 賢; 新学術領域「ソフトロボット学」研究班; 日本ロボット学会; 文部科学省
Japanese, Contributor, 320, オーム社, 19 Jan. 2023, 427422998X - Liquid metal-based soft actuators and sensors for biomedical applications. Metal Oxides for Biomedical and Biosensor Applications
Jun Shintake; Yegor Piskarev
English, Contributor, Elsevier, 01 Jan. 2022, 9780128230336 - Dielectric elastomers as eaps: how to start experimenting with them. Electromechanically active polymers: a concise reference
Herbert Shea; Soo Jin; Adrian Koh; Ingrid Graz; Jun Shintake
Scholarly book, English, Contributor, Springer International Publishing, 2016, 9783319315287
Lectures, oral presentations, etc.
- Soft underwater robots
Jun Shintake
Nominated symposium, Embodied Intelligence Conference, Invited
20 Mar. 2024 - 可食ロボットの研究
新竹 純; 髙橋 慶悟; 髙井 和真
Poster presentation, 日本科学振興協会 年次大会2023
08 Oct. 2023 - 直接駆動方式の生物模倣型水中ロボット
新竹 純; 井口 慶祐; 舟久保 賢希; 原田 開生
Poster presentation, 日本科学振興協会 年次大会2023
07 Oct. 2023 - 植物ロボットの研究
新竹 純; 佐藤 操生; 村上 和也
Poster presentation, 日本科学振興協会 年次大会2023, Peer-reviewed
07 Oct. 2023 - 生分解性を有するソフトアクチュエータとセンサ
髙井 和真; 細矢 直基; 新竹 純
Oral presentation, Dynamics and Design Conference 2023
31 Aug. 2023 - 天然ゴムを用いた振動センサ
藤牧 礼欧; 前田 真吾; 新竹 純; 細矢 直基
Oral presentation, Dynamics and Design Conference 2023
31 Aug. 2023 - 直接駆動方式の生物模倣型水中ロボット
井口慶祐; 新竹 純
Oral presentation, 回転機/リニアドライブ/家電･民生合同研究会
09 Aug. 2023 - Environmentally Friendly Soft Robotic Devices
Jun Shintake
Invited oral presentation, Translational soft robots in successful real-world applications, Robotics: Science and Systems, Invited
14 Jul. 2023 - EHDソフトアクチュエータ
佐藤優輝; 新竹純
Poster presentation, ロボティクス・メカトロニクス講演会
30 Jun. 2023 - 熱と電場の両方に応答するハイブリッド誘電エラストマーアクチュエータの提案
柿原隆之介; 小田大夢; 比留田稔樹; 新竹純; 奥崎秀典; 高木賢太郎
Poster presentation, ロボティクス・メカトロニクス講演会
30 Jun. 2023 - 直接駆動方式に基づくカメ型の生物模倣型水中ロボット
舟久保賢希; 新竹純
Poster presentation, ロボティクス・メカトロニクス講演会
30 Jun. 2023 - 直接駆動方式に基づく魚型の生物模倣型水中ロボット
井口慶祐; 新竹純
Poster presentation, ロボティクス・メカトロニクス講演会
30 Jun. 2023 - 視覚刺激と触覚刺激による感情制御の実現可能性の研究
河上響; 村上和也; 菅哲朗; 小泉直也; 新竹純
Poster presentation, ロボティクス・メカトロニクス講演会
30 Jun. 2023 - 身体の非対称性が生む運動の対称性の破れ：水中移動ロボットのシンプル制御
水野礼瀬; 新竹純; 池本有助
Poster presentation, ロボティクス・メカトロニクス講演会
30 Jun. 2023 - やわらかいセンサ
新竹純
Invited oral presentation, Japanese, 第40回 日本ロボット学会学術講演会オープンフォーラム ソフトロボット学の全貌を理解する --体系的テキストの上梓--, Domestic conference
09 Sep. 2022 - 静電アクチュエータを用いたアクティブテンセグリティ構造体
渡邉修也; 新竹純
Oral presentation, Japanese, Dynamics and Design Conference
05 Sep. 2022 - PVCゲルポンプの開発
本橋朋樹; 小川直記; 赤井日出子; 新竹純
Oral presentation, Japanese, Dynamics and Design Conference
05 Sep. 2022 - 直接駆動方式に基づく生物模倣型水中ロボットの特性解析
井口慶祐; 新竹純
Oral presentation, Japanese, 回転機/リニアドライブ/家電・民生合同研究会
08 Aug. 2022 - サービスロボットの要求を実現する小形モータとその制御技術
新竹純
Oral presentation, Japanese, 電気学会 産業応用フォーラム
22 Apr. 2022 - Soft actuators, sensors, and robots based on dielectric elastomers
Jun Shintake
Invited oral presentation, English, International Conference on Materials and Manufacturing Technologies/International Conference on Advanced Mechanism and Machine Technology, Invited, International conference
29 Oct. 2021 - 水中で動作する誘電エラストマーファイバーアクチュエータの研究開発
清水敬太; 菅野亮; 永井敏輝; 新竹純
Oral presentation, Japanese, Dynamics and Design Conference, Domestic conference
17 Sep. 2021 - 内骨格構造を有する誘電エラストマーアクチュエータの研究開発
永井敏輝; 新竹純
Oral presentation, Japanese, Dynamics and Design Conference, Domestic conference
17 Sep. 2021 - 直接駆動方式の生物模倣型水中ロボット
新竹純; 井口慶祐
Oral presentation, Japanese, 回転機/リニアドライブ/家電・民生合同研究会, Domestic conference
06 Jul. 2021 - 誘電エラストマーテンセグリティアクチュエータ
渡邉修也; 池本有助; 新竹純
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会
08 Jun. 2021 - エラストマーセンサを内包したマッキベン型人工筋肉
菅野亮; 渡邉修也; 清水敬太; 新竹純
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会, Domestic conference
08 Jun. 2021 - 環境に遍在するモノを活用したカモフラージュ水中ロボットの開発
島ノ上諒; 万木将暉; 新竹純; 池本有助
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会
08 Jun. 2021 - テンセグリティ・スパインを搭載した四脚ロボットの脊柱剛性と歩容パターンの関係調査
林祐介; 大西功二; 新竹純; 池本有助
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会
08 Jun. 2021 - 機械的アクションポテンシャル運動：双安定力学系を活用したテンセグリティ・スパインジョイントの瞬発運動生成
原田将成; 新竹純; 池本有助
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会
08 Jun. 2021 - サービスロボット用モータに必要な要素技術〜薄さ・細さ〜
新竹純; 野澤淳一; 馬場和彦; 石川赴夫; 奥松美宏
Oral presentation, Japanese, 令和3年電気学会全国大会
09 Mar. 2021 - 誘電エラストマーを用いたトランスデューサーとロボット
新竹純
Invited oral presentation, Japanese, スマートプロセス学会、エレクトロニクス生産科学部会、電子デバイス実装研究委員会, Invited
08 Mar. 2021 - マイクロソフトポンプに向けた電極作製法の検証
坂口諒; 新竹純
Oral presentation, Japanese, 第27回「エレクトロニクスにおけるマイクロ接合・実装技術」シンポジウム
02 Feb. 2021 - 静電容量型ソフト歪みセンサを用いた薄型平面シェルグリッパの把持状態推定
松野孝博; 鐘江崚; 清水敬太; 王忠奎; 新竹純; 平井慎一
Oral presentation, Japanese, 第38回日本ロボット学会学術講演会, Domestic conference
10 Oct. 2020 - Soft sensors and actuators based on conductive acrylic elastomer
Ryo Kanno; Jun Shintake
Oral presentation, Japanese, Dynamics and Design Conference
01 Sep. 2020 - Physical I.D.:物理的に複製困難な人工スキンの開発
戸田将也; 万木将暉; 新竹純; 池本有助
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会
28 May 2020 - 機械的アクションポテンシャルに基づくダンゴムシ型ロボットの俊敏逃避行動の実現
花井澪; 大西功二; 新竹純; 池本有助
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会, Domestic conference
28 May 2020 - 柔らかさと硬さを両立するヒレを搭載したエイ型水中ロボットの開発
万木将暉; 三品博暉; 新竹純; 池本有助
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会, Domestic conference
28 May 2020 - 生分解性材料に基づくソフトアクチュエータのシミュレーションによる解析
永井敏輝; 新竹純
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会, Domestic conference
28 May 2020 - 誘電エラストマーを用いた柔らかいトランスデューサーとロボット
新竹純
Invited oral presentation, Japanese, 第10回マイクロ・ナノ工学シンポジウム, Invited, 日本機械学会 マイクロ・ナノ工学部門, Domestic conference
21 Nov. 2019 - 高分子アクチュエータの基礎と応用
新竹純
Invited oral presentation, Japanese, ソフトアクチュエータの基礎と最新応用事例, Invited, 日本機械学会 機素潤滑設計部門, Domestic conference
19 Nov. 2019 - 誘電エラストマーを用いたソフトトランスデューサーとロボット
新竹純
Invited oral presentation, Japanese, 計測自動制御学会SI部門ソフトマテリアル応用部会 高分子アクチュエータ入門（第3回：誘電エラストマーアクチュエータ編2019）, Domestic conference
03 Sep. 2019 - 柔らかいトランスデューサーとロボット
新竹純
Invited oral presentation, Japanese, 第25回創発システム・シンポジウム, Domestic conference
01 Sep. 2019 - イソギンチャクロボットの研究開発
三品博暉; 万木将暉; 新竹純; 池本有助
Poster presentation, Japanese, 第25回創発システム・シンポジウム
31 Aug. 2019 - アンチフラジャイル特性に基づくテンセグリティ構造物の剛性設計手法の提案
大西功二; 渡邊智哉; 新竹純; 池本有助
Poster presentation, Japanese, 第25回創発システム・シンポジウム
31 Aug. 2019 - テンセグリティ構造を用いた歩行ロボットの設計・開発
渡邊智哉; 大西功二; 新竹純; 池本有助
Poster presentation, Japanese, 第25回創発システム・シンポジウム
31 Aug. 2019 - 静電容量型ソフト歪みセンサの感度向上
新竹純; 荻島啓太; 永井敏輝
Oral presentation, Japanese, Dynamics and Design Conference
30 Aug. 2019 - 誘電エラストマーに基づくトランスデューサーとロボット
新竹純
Keynote oral presentation, Japanese, Dynamics and Design Conference
30 Aug. 2019 - Soft actuators and robots based on DEAs
Jun Shintake
Invited oral presentation, English, International Conference on Active Polymer Materials and Soft Robotics (APMSR), International conference
26 Aug. 2019 - やわらかいロボット
新竹純
Invited oral presentation, Japanese, 第18回UECアライアンスセンターICTワークショップ
01 Aug. 2019 - 軟骨を活用したエイロボットの開発
万木将暉; 三品博暉; 新竹純; 池本有助
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会
07 Jun. 2019 - Silicone based dielectric elastomer transducers and robots
Jun Shintake
Invited oral presentation, English, International Conference on Electronics Packaging, Invited, Niigata, Japan, International conference
19 Apr. 2019 - シリコーンエラストマーを用いたトランスデューサーとロボット
新竹純
Invited oral presentation, Japanese, 第28回日本MRS年次大会 研究会「ソフトアクチュエータ産業化研究会」シンポジウム, Invited, Domestic conference
18 Dec. 2018 - 歯車測定機の精度向上に関する研究（第1報）：測定力変化の影響
田口哲也; 新竹純; 明愛国; 下条誠
Oral presentation, 精密工学会秋季大会
14 Sep. 2012 - マンタの動きを模倣したソフト水中ロボットの開発
大阪拓真; 新竹純; 明愛国; 下条誠
Oral presentation, 第17回日本IFToMM会議シンポジウム
16 Jul. 2011 - 圧電繊維複合材料を用いた水中ロボットの開発：単一ヒレ構造による推進運動の多様化
新竹純; 明愛国; 下条誠
Poster presentation, ロボティクス・メカトロニクス講演会
16 Jun. 2010 - 圧電繊維複合材料を用いた水中ロボットの開発：本体屈曲型尾ヒレ推進水中ロボットの試作
新竹純; 明愛国; 下条誠
Oral presentation, Japanese, 第27回日本ロボット学会学術講演会
15 Sep. 2009
Courses
- Innovative Comprehensive Communications Design 1
Apr. 2023 - Present
The University of Electro-Communications - Graduate Technical English
Apr. 2023 - Present
The University of Electro-Communications - Basic Experiments of Mechatronics A
Mar. 2019 - Present
The University of Electro-Communications - Basic Experiments of Mechatronics B
Oct. 2018 - Present
The University of Electro-Communications - Soft Robotics, "Soft Actuators"
Nov. 2023 - Nov. 2023
Ritsumeikan University - アクチュエータ工学特論, "分子系ソフトアクチュエータの開発"
Jul. 2023 - Jul. 2023
Chuo University - 技術とコンテンツ, "可食ロボティクス"
Jul. 2023 - Jul. 2023
The University of Tokyo - Mechano-Design
Oct. 2019 - Mar. 2023
The University of Electro-Communications
Research Themes
- 共鳴モード場に基づくテンセグリティ・水中ロボットの身体設計諭の確立
池本 有助; 新竹 純
日本学術振興会, 科学研究費助成事業, 名城大学, 基盤研究(B), 23H03480
01 Apr. 2023 - 31 Mar. 2027 - らせん状電極を有する繊維状ソフトポンプの研究開発
新竹 純
日本学術振興会, 科学研究費助成事業 基盤研究(B), 電気通信大学, 基盤研究(B), 23H01377
01 Apr. 2023 - 31 Mar. 2027 - 異種複合化され協調動作する高分子人工筋の創製と複合物理モデルベースト制御
高木 賢太郎; 入澤 寿平; 安積 欣志; 奥崎 秀典; 新竹 純; 西田 豪
日本学術振興会, 科学研究費助成事業 基盤研究(B), 豊橋技術科学大学, 基盤研究(B), 22H01428
01 Apr. 2022 - 31 Mar. 2026 - 直接駆動方式の生物模倣型水中ロボットの研究開発
公益財団法人 永守財団
Oct. 2023 - Sep. 2024 - 直接駆動方式の生物模倣型水中ロボットの研究開発
公益財団法人 永守財団
Oct. 2022 - Sep. 2023 - 視覚刺激と触覚刺激による感情のリアルタイム制御と社会展開に関する研究調査
公益財団法人 電気通信普及財団, 研究調査助成
01 Apr. 2022 - 31 Mar. 2023 - 繊維状ソフトポンプの研究開発：基礎特性の把握
新竹 純
日本学術振興会, 科学研究費助成事業 若手研究, 電気通信大学, 若手研究, 本研究は、内部的に実装できる繊維状ソフトポンプの製造方法の確立、ポンプの基礎的な性能特性の明確化、および実機の開発を通したソフトロボティクスへの有効性の検証を行うことを目的としている。本研究で提案する繊維状ソフトポンプは、シリコーンチューブと柔らかい電極から構成される。 当該年度では繊維状ポンプの製造方法の確立に主として取り組んだ。まず、ポンプの母体となるシリコーンチューブの材料および製作工程について試作を通した検討を行い、十分な柔らかさを持つ任意の直径のチューブの作製を可能とする方法を確立した。この方法では、型を用いるモールディングによってチューブを作製する。2種のシリコーンを特定の比率で混合したものを材料とし、型に流し込んで硬化するだけでチューブの作製が完了する。チューブと柔らかい電極の接着も確認でき、それによって基本的なポンプの製造方法を確立することができた。 実験用のポンプを製作する前段階として、液体のシーリングや絶縁耐性の確認を行った。その過程で、当該年度に製作したチューブそのものが、静電アクチュエータとして機能することを見出した。これは、本研究における副次的な成果である。また、繊維状ポンプを特性解析するための、圧力・流用センサーと治具からなるテストベンチの製作を行い、単純なポンプをサンプルとした簡易実験によって測定が正確に行えることを確認した。他方、これまでの知見に基づいて、海外の研究者との共同研究も行った。, 21K14126
01 Apr. 2021 - 31 Mar. 2023 - グリーンロボティクス：生分解性ソフトロボット要素の研究開発
新竹 純
日本学術振興会, 科学研究費助成事業 新学術領域研究(研究領域提案型), 電気通信大学, 新学術領域研究(研究領域提案型), 本研究では、機械的な特性と電気的な特性が両立した生分解性材料と、それを適用したアクチュエータやセンサといった要素を開発することを目的としている。材料の電気的な特性の目標値としては、絶縁体の場合は1×10 Ω・m以上、導体の場合は1×10 Ω・m以下としている。機械的な特性の目標値については、ヤング率0.1-2 MPa程度で伸縮性が100%程度の伸び歪みとしている。当該年度では、主材としてゼラチンに着目し、グリセロールや塩化ナトリウム、セルロースを添加剤として、それらの多寡が結果としてできる材料の特性にどのように影響するのかを、実験を通して明らかにした。その結果、電気的特性と機械的特性を満足する材料を得ることができた。 開発した材料を電気的に駆動するソフトアクチュエータに適用し、生分解デバイスとして動作可能かどうかを検証した。具体的には、液体を内包した絶縁性フィルム上に、開発した材料を電極として塗布した静電流体アクチュエータを構成した。液体には植物油、絶縁性フィルムにはポリ乳酸とポリブチレンアジペートテレフタレートの合成樹脂をそれぞれ用いており、これらはいずれも生分解性材料である。実験の結果、アクチュエータは印加電圧に応じた大変形を出力することが確認でき、電気的に駆動される生分解性デバイスとして機能することが分かった。 ゼラチンを主材としたセルロースの添加は海外機関との共同研究という形でも行っており、その副次的な効果として、材料の3Dプリントが可能になることを見出した。これは、セルロースによって流動性を調整できることに起因しており、これまで困難であった柔らかいゼラチン材料の精度の高い3Dプリントができるようになった。これは、当該研究の今後の遂行において非常に強力な手段となるものである。 以上の活動に加え、これまでの知見を活かした共同研究を国内外の研究者と行った。, 21H00324
01 Apr. 2021 - 31 Mar. 2023 - テンセグリティロボットを用いた生物の射出運動生成機構の理解
池本 有助; 新竹 純
日本学術振興会, 科学研究費助成事業 基盤研究(B), 名城大学, 基盤研究(B), 本研究の目的は，硬い部材を柔らかい部材の張力によって形態を維持するテンセグリティの設計原理を活用したロボットを開発し，ダンゴムシなどの蛇腹状の多関節を有する生物の逃避行動にみられる瞬間的屈曲運動を実現する．そして，数値シミュレーションおよび実ロボットの具現化を行うことである． 今年度では，開発した射影幾何に基づくテンセグリティロボットシミュレータの数値計算を並列化し，計算コストの大幅な削減が可能となった．また，アクリル板を使用した２Dから３Dのテンセグリティオブジェクト開発方法を確立し，ハードウェア開発の大幅な時間短縮が可能となった．これらのハードウェア設計・製作手法は国内特許に出願した． また，引き続き，テンセグリティ構造体の最適化アルゴリズムを双安定力学系に基づき考察した．その結果，数値シミュレーション結果と実機実験との比較を行うことが可能となり，より再現性の高い実験と結果検証が可能となった．この双安定力学特性を用いた構造設計を行い，エビの屈曲状態を維持するテンセグリティ構造体を製作するに至った．本結果は，国際会議でのポスター発表を行った． また，ソフト材料とリジッド材料の成型の設計に関し，剛性の異なるソフト材料を混合させる技術基盤を確立した．特に，ソフト材料とリジッド材料の成型を自由自在かつ短時間で行う方法論を駆使し，様々な複合剛性を有するソフトロボットを開発した．本結果は，国際ジャーナルに掲載された．, 19H02118
01 Apr. 2019 - 31 Mar. 2023 - 直接駆動方式の生物模倣型水中ロボットの研究開発
公益財団法人 永守財団
01 Oct. 2021 - 30 Sep. 2022 - 植物ロボットの研究
国立研究開発法人 科学技術振興機構, 創発的研究支援事業
01 Apr. 2022 - Sustainable Soft Robotics
Swiss National Science Foundation, Partner: Swiss Federal Laboratories for Materials Science and Technology
01 Mar. 2021 - 28 Feb. 2022 - 変形状態での微小流体制御と精密計測を可能とするマイクロソフトポンプの開発
精密測定技術振興財団, 精密測定技術向上のための調査・研究事業に対する助成
01 Apr. 2020 - 31 Mar. 2021 - 土に還るロボット：生分解性ソフトアクチュエータの変性機序の解明と設計法の確立
新竹 純
日本学術振興会, 科学研究費助成事業 新学術領域研究(研究領域提案型), 電気通信大学, 新学術領域研究(研究領域提案型), 前年度に構築した、微生物による分解に対する生分解性材料の機械特性の変化をパラメータとして実装した、ソフトアクチュエータのシミュレーション環境の妥当性を検証するために、実機アクチュエータとの比較実験を行った。アクチュエータは空気の入力によって曲げ変形するものであり、実験の前段階として、本研究で用いている生分解性材料であるゼラチンとグリセロールの混合物に適した構造、形状、および製作工程を明らかにした。 シミュレーションとの比較実験では、製作したアクチュエータが0、5、10、15、20、および25%の生分解度を持つような、最適な分解条件を明らかにし、これを適用した。実験の結果、分解度ごとのアクチュエータの曲げ動作の変化の傾向はシミュレーションで予測されたものと同様であることが分かった。また、それぞれの分解度における曲げアクチュエーションの変化量も、高い精度でシミュレートできることが分かった。これは実験値とシミュレーション値の間の決定係数で定量的に判断されたもので、それぞれの分解度で0.997までの高い値が得られた。 以上の結果により、生分解性ソフトアクチュエータがどのように変性し、その出力特性がどう変化するのかという、変性機序を明らかにすることができた。そして、それらの挙動を予測するシミュレーション環境の妥当性が明らかになり、生分解性ソフトアクチュエータの設計法の一つとして確立できたことが示された。今後の研究の展開としては、本研究で得られた材料の解析手段や設計法を、様々な生分解性材料に基づくソフトアクチュエータやセンサに適用していくことが挙げられる。 なお、本研究においてアクチュエータの構造や製作方法を検討する過程で、非生分解性材料に基づく柔らかいデバイスの知見も副次的に得ることができた。, 19H05328
01 Apr. 2019 - 31 Mar. 2021 - 高い形状自由度を持つ積層型誘電エラストマーアクチュエータの研究開発
Shintake Jun
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Early-Career Scientists, The University of Electro-Communications, Grant-in-Aid for Early-Career Scientists, Stacked dielectric elastomer actuators are a promising technology for soft robotics, but their shape is limited to a certain range of geometries. Moreover, fabrication is laborious and often requires dedicated facilities. In this study, we proposed a novel method for fabricating stacked dielectric elastomer actuators with a very simple process, the molding method. The characteristics of the actuators fabricated based on the proposed method were clarified by experiments and analytical modeling, and the effectiveness of the method for soft robotics was validated through the development of a soft robot., 19K14942
01 Apr. 2019 - 31 Mar. 2021 - 生物模倣に基づく移動ロボットの先進化
Ministry of Education, Culture, Sports, Science and Technology, Leading Initiative for Excellent Young Researchers（LEADER）
Mar. 2018 - Mar. 2019
Industrial Property Rights
- マイクロポンプ用動作液体及びマイクロポンプ
Patent right, 特願2022-137614号, Date applied: 31 Aug. 2022 - マイクロポンプ
Patent right, 特願2022-137615号, Date applied: 31 Aug. 2022 - A variable stiffness magnetic catheter made of a conductive shape memory polymer for minimally invasive surgery
Patent right, PCT/IB2021/061305, Date applied: 03 Dec. 2021 - テンセグリティ構造物、及びテンセグリティ構造物の係止部
Patent right, -, Date applied: 14 Oct. 2021 - 多層構造体の製造方法
Patent right, 2020-008359, Date applied: 22 Jan. 2020, 2021-118556 - 静電容量型歪みセンサ
Patent right, 2019-149707, Date applied: 19 Aug. 2019, 2021-32586 - Stretchable electrohydrodynamic pump
Patent right, PCT/EP2019/063086, Date applied: 25 Jun. 2019 - Electroadhesive device, system and method for gripping
Patent right, Jun Shintake, Samuel Rosset, Brian Schubert, Dario Floreano, Herbert Shea, WO2017145103A1, US20190047157A1, Date applied: 24 Feb. 2017
Social Contribution Activities
Media Coverage
- 「ロボットを食べる」発想
読売新聞, 夕刊5面, Paper
27 Jun. 2024 - さまざまな機能を付与してロボットと共生できる未来を創る
Top Researchers編集部, Top Researchers, https://top-researchers.com/?p=2765, Internet
26 Mar. 2024 - 生物のように柔らかくて強靭な次世代ロボットを創ろう
河合塾, みらいぶっく｜学問・大学なび, https://miraibook.jp/researcher/w23085, Internet
22 Mar. 2024 - やわらか発想、ぐにゃぐにゃロボット
朝日新聞, 朝刊23面, Paper
19 Jan. 2024 - （扉）やわらか発想、ぐにゃぐにゃロボット 食べられる素材・生物ヒント、広がる可能性
朝日新聞デジタル, https://www.asahi.com/articles/DA3S15841854.html?iref=pc_ss_date_article, Internet
19 Jan. 2024 - Liquid magnet propellers could be a safer way to power boats
New Scientist, https://www.newscientist.com/article/2409313-liquid-magnet-propellers-could-be-a-safer-way-to-power-boats/, Internet
21 Dec. 2023 - “食べられる“ドローンで救命ー自分の顔ではなく翼を食料として与える『ヒーロー』が活躍するかもしれない
日経サイエンス, Paper
Sep. 2023 - Creating soft components for robots that return to nature
Advanced Science News, https://www.advancedsciencenews.com/creating-soft-components-for-robots-that-return-to-nature/, Internet
12 Jul. 2023 - The art of Kirigami and paper electronics
Advanced Science News, https://www.advancedsciencenews.com/the-art-of-kirigami-and-paper-electronics/, Internet
26 May 2020 - An Edible Actuator for Ingestible Robots
IEEE Spectrum, https://spectrum.ieee.org/automaton/robotics/robotics-hardware/an-edible-actuator-for-ingestible-robots, Internet
Oct. 2017 - ゼラチン製の食べられるロボットの研究―、患部に直接届く薬としての応用可能性も
Tech Crunch Japan, https://jp.techcrunch.com/2017/03/15/20170313edible-robotics/, Internet
Mar. 2017 - Robotic Fingers Use 'Artificial Muscles' to Lift Eggs Without Breaking Them
Newsweek, https://www.newsweek.com/robotic-fingers-use-artificial-muscles-lift-eggs-without-breaking-them-421701, Internet
Feb. 2016 - A Strong Robot Hand with a Softer Side
MIT Technology Review, https://www.technologyreview.com/2016/02/09/162357/a-strong-robot-hand-with-a-softer-side/, Internet
Feb. 2016 - UAVs Flex Their Artificial Muscles
IEEE Spectrum, https://spectrum.ieee.org/automaton/robotics/drones/uavs-flex-their-artificial-muscles, Internet
Oct. 2014