Serected work

Singularity Link Mechanism for Robot Arms Singularity Link Mechanism (SLM) performs high responsiveness, high torque, and high energy efficiency. This mechanism is very suited for a lifting task in humanoids and exoskeletons. [Video]

Rotary-Linear Piezoelectric Actuator (RLPA) RLPA is fabricated as a single metallic cube with a through-hole. We can obtain rotation and translation from a shaft inserted to the hole. The shape of RLPA is a cube with side length of 14 mm. The micro RLPA is a cube of length 3.5 mm. One of attractive applications is an endovascular surgery. -RLPA 14 mm [Video] -RLPA 3.5 mm [Video]

Spherical Ultrasonic Motor (SUSM) SUSM is an actuator with omnidirectional DOFs in a compact body. It is composed of three annular piezoelectric actuators and a spherical rotor of 20 mm in diameter. It can rotate like eyes, a wrist, and a shoulder in human body. [Youtube]

MRI Compatible Manipulator with Spherical Ultrasonic Motor and 2DOF optical sensing system The manipulator was developed for surgical applications with a strong magnetic field compatibility such as MRI. The principle of piezoelectric actuator is driven without electromagnetic force. Also, the manipulator has a sensing system using optical fibers for multi-DOF actuation. [Video]

Publication

Journal paper:

3) T. Mashimo, S. Toyama, "Rotary-Linear Piezoelectric Actuator with a Cubic Stator of Side Length of 3.5 mm," IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, Vol. 57, No. 8, pp. 1825-1830, 2010.

2) T. Mashimo, S. Toyama, H. Ishida, "Design and Implementation of a Spherical Ultrasonic Motor," IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, Vol. 56, No. 11, pp. 2514-2521, 2009.

1) T. Mashimo, S. Toyama, "Rotary-Linear Piezoelectric Actuator using a Single Stator," IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, Vol. 56, No. 1, pp. 114-120, 2009.

> T. Mashimo, T. Urakubo, T. Kanade, "Singularity Link Mechamism for Impulsive Torque with High Energy Efficiency," IEEE Transactions on Robotics. (under review)

> T. Mashimo, S. Toyama, "Vibration Analysis of Cubic Rotary-Linear Piezoelectric Actuator," IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control. (under review)

Japanese papers have been abbreviated. Please let me know if you need.

International conference:

16) T. Mashimo, T. Urakubo, T. Kanade, "Singularity-Based Mechanism with High Responsiveness," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Accepted.

15) T. Mashimo, R. Diankov, T. Urakubo, T. Kanade, "Analysis of Task Feasibility for a Home Robot using Prismatic Joints," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Accepted.

14) T. Urakubo, T, Mashimo, T. Kanade, "Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Accepted.

13) T. Urakubo, T. Mashimo, T. Kanade, "Optimal Door Opening by Two-Link Manipulator," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009), St. Louis, pp. 1446-1451, 2009.

12) M. Hoshina, T. Mashimo, S. Toyama, "Development of Spherical Ultrasonic Motor as a Camera Actuator for Pipe Inspection Robot," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009), St. Louis, pp. 2379-2384, 2009.

11) M. Hoshina, T. Mashimo, S. Toyama, "Development of Pipe Inspection Robot: Driving System and Control of Outer-rotor-typed Spherical Ultrasonic Motor," International Conference of Advanced Robotics (ICAR2009), Munich, June, pp. 1-6, 2009.

10) S. Toyama, T. Mashimo, "Development of micro ultrasonic motor for surgery" Proceedings of Vibroengineering 2008, 7th International conference, October, 2008.

10') S. Toyama, T. Mashimo, "Development of micro ultrasonic motor for surgery" Journal of Vibroengineering, Vol. 1, No. 11, pp. 27-33, March, 2009.

9) M. Hoshina, T. Mashimo, S. Toyama, "Development of a Piping Inspection Robot using a Spherical Ultrasonic Motor" Proceedings of X. International Conference on the Theory of Machines and Mechanisms (IFToMM), Liberec, Czech Republic, pp. 277-282, 2008

8) A. Yoshida, T. Mashimo, S. Toyama, "Development of Phase Difference Control System for TR motor" Proceedings of X. International Conference on the Theory of Machines and Mechanisms (IFToMM), Liberec, Czech Republic, pp. 721-726, 2008

7) S. Kure, T. Mashimo, S. Toyama, "Three-dimensional Vibration Analysis of TR motor using Finite Element Method" Proceedings of X. International Conference on the Theory of Machines and Mechanisms (IFToMM), Liberec, Czech Republic, pp. 359-364, 2008

6) T. Mashimo, S. Toyama, H. Matsuda, "Development of Rotary-Linear Piezoelectric Actuator for MRI Compatible Manipulator" 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, pp. 113-118, 2008

5) T. Mashimo, S. Toyama, " Rotary-Linear Ultrasonic Motor for Endovascular Diagnosis and Surgery" International Conference and Exhibition on New Actuators and Drive Systems (Actuator 2008), Bremen, pp. 973-976

4) T. Mashimo, S. Toyama, "Micro Rotary-Linear Ultrasonic Motor for Endovascular Diagnosis and Surgery" 2008 IEEE International Conference on Robotics and Automation (ICRA2008), Pasadena, pp. 3600-3605, 2008

3) T. Mashimo, S. Toyama, "MRI-Compatibility of a Manipulator using a Spherical Ultrasonic Motor," The 12th World Congress in Mechanism and Machine Science (IFToMM2007), Besancon, p.ck-350, 2007

2) T. Mashimo, K. Awaga, S. Toyama, "Development of a spherical ultrasonic motor with an attitude sensing system using optical fibers," 2007 IEEE International Conference on Robotics and Automation (ICRA2007), Roma, pp. 4466-4471, 2007

1) T. Mashimo, S. Toyama, "Manipulator System Using a Spherical Ultrasonic Motor for Surgical Robots," Second Asia International Symposium on Mechatronics (AISM2006), Hong Kong, p.D1-1, 2006

International patent:

3) T. Mashimo, T. Kanade, and T. Urakubo, High torque mechanism exploiting mechanical singularity, CMU docket 09-100.

2) T. Mashimo，S. Toyama，An ultrasonic wave handling device and a microscopic in-tube inspection system, PCT/JP2007/069147 (USA)

1) T. Mashimo，S. Toyama，Ultrasonic Operation Device and Microtube Inside System, Pub. No. : WO/2008/038817 (USA)