Symposium – Japanese Council of IFToMM

Jc-IFToMM holds an annual symposium. In each symposium, various presentations regarding a wide range of research topics in mechanical engineering are given to establish the next Monotsukuri Innovation. Anyone who has an interest in the activity of Jc-IFToMM and IFToMM is welcome to submit and attend the symposium. From the 2022, proceedings of the symposium is published on J-Stage.

Latest Information:

The 8th Jc-IFToMM International Symposium

Date:

June 21 (Sat) – 22 (Sun), 2025

Venue:

Room 12A, 12th Floor of the Nagano-prefecture JA (Japan Agricultural Co-operative) building, 1177-3 Kita Ishido-cho, Minami-Nagano, Nagano-city, Japan (Google map)

Important dates:

Deadline of submission ~~March 25, 2025~~ Extended to April 1, 2025
Notification of acceptance^(*) April 8, 2025
(*) There will be no “peer review”, but the submitted papers will be reviewed by the program committee for consistency with the symposium topics.

For detailed information, please access here.

Past symposium:

The 7th Jc-IFToMM International Symposium (At West Japan General Exhibition Center AIM, Kitakyushu, Japan, 2024)
The 6th Jc-IFToMM International Symposium in conjunction with the 29th Jc-IFToMM Symposium on Theory of Machines and Mechanisms (at the University of Tokyo, 2023)
The 28th Symposium (at Kyoto University, July, 2022)
The 26th Symposium (Online, March, 2020)
The 25th Symposium (at Meiji University, October, 2019)
The 24th Symposium (at The University of Tokyo, June, 2018)
The 23rd Symposium (at Tokyo University of Agriculture and Technology, 2017)
The 22nd Symposium (at Waseda University, July, 2016)
The 21th Symposium (at Tokyo Institute of Technology, July, 2015)
The 20th Symposium (at Tokyo Institute of Technology, May, 2014)
The 19th Symposium (at Tokyo Institute of Technology, June, 2013)
The 18th Symposium (at Tokyo Institute of Technology, May, 2012)
The 17th Symposium (at Tokyo Institute of Technology, July, 2011)
The 16th Symposium (at Tokyo Institute of Technology, November, 2010)
The 15th Symposium (at Tokyo Institute of Technology, July, 2009)
The 14th Symposium (at Tokyo Institute of Technology, July, 2008)
The 13th Symposium (at Tokyo Institute of Technology, July, 2007)
The 12th Symposium (at Tokyo Institute of Technology, June, 2006)
The 11th Symposium (at Tokyo Institute of Technology, June, 2005)
The 10th Symposium (at Kogakuin University, June, 2004)
The 9th Symposium (at Kogakuin University, June, 2003)
The 8th Symposium (at Kogakuin University, June, 2002)
The 7th Symposium (at Kogakuin University, June, 2001)
The 6th Symposium (at Kogakuin University, November, 2000)
The 5th Symposium (at Kogakuin University, November, 1999)
The 4th Symposium (at Tokyo Institute of Technology, June, 1998)
The 3rd Symposium (at Tokyo Institute of Technology, May, 1997)
The 2nd Symposium (at University of Tokyo, May, 1996)
The 1st Symposium (at University of Tokyo, May, 1995)

The 8th Jc-IFToMM International Symposium

Date:

June 21 (Sat) – 22 (Sun), 2025

Venue:

Room 12A, 12th Floor of the Nagano-prefecture JA (Japan Agricultural Co-operative) building, 1177-3 Kita Ishido-cho, Minami-Nagano, Nagano-city, Japan (Google map)

Important dates:

Deadline of submission ~~March 25, 2025~~ Extended to April 1, 2025
Notification of acceptance^(*) April 8, 2025
(*) There will be no “peer review”, but the submitted papers will be reviewed by the program committee for consistency with the symposium topics.

For detailed information, please access here.
The 7th Jc-IFToMM International Symposium

Date:

June 22 (Sat) – 23 (Sun), 2024

Venue:

WEST JAPAN GENERAL EXHIBITION CENTER AIM BUILDING, Kitakyushu, Japan

Important dates:

Deadline of submission 1st April, 2024
Notification of acceptance^(*) 8th April, 2024
(*) There will be no “peer review”, but the submitted papers will be reviewed by the program committee for consistency with the symposium topics.

For detailed information, please access here.

The 6th Jc-IFToMM International Symposium in conjunction with the 29th Jc-IFToMM Symposium on Theory of Machines and Mechanisms

Date: 12^th May (Fri), 2023

Venue: the conference room on the 3rd floor of Ito Research Center, the University of Tokyo

Fees:

Jc-IFToMM Member:	Free
IFToMM Community:	10,000 JPY
Regular Attendees:	15,000 JPY
Students:	2,000 JPY
Participants from overseas (except Japanese participants) can join the symposium via an online platform, and fee is free in that case (Events except the symposium (lab tour etc.) are excluded).

PDF program: (Download)

Opening ceremony
9:30	Opening address by Nobuyuki Iwatsuki (Tokyo Tech.), President of Jc-IFToMM

Session 1 Mechanisms (9:35 – 10:35)	Chair: Akio Yamamoto (Univ. Tokyo)
9:35	Self-excited valve inspired by vocal code *Hiroyuki Nabae, Eigo Kitamura, Koichi Suzumori (Tokyo Tech.)
9:50	Multiobjective optimization of a cable-driven robot for wrist rehabilitation using a genetic algorithm *Andrea Botta (Tokyo Tech./Politecnico di Torino), Giuseppe Quaglia (Politecnico di Torino), Yukio Takeda (Tokyo Tech.)
10:05	Adaptive landing of an underactuated leg mechanism constrained with springs and its application to walking robot Yuma Yokota, *Nobuyuki Iwatsuki, Kotaro Hoshiba (Tokyo Tech.)
10:20	Generation method of polygonal shapes with fillets bases on the gear meshing theory *Daisuke Matsuura, Daisuke Hashioka, Tsune Kobayashi (Tokyo Tech.)
Break (10:35 – 10:45)
Keynote Talk (10:45 – 11:15)	Chair: Nobuyuki Iwatsuki (Tokyo Tech.)
10:45	Robot and navigation system for minimally invasive surgery Prof. Etsuko Kobayashi (Univ. Tokyo)
Advanced Research Seminar (11:15 – 11:45)	Chair: Kenji Hashimoto (Waseda Univ.)
11:15	In vitro study using mechanical vibration for the development of regenerative therapy application Prof. Chikahiro Imashiro (Univ. Tokyo)
Lunch Break (11:45 – 12:45)
12:45 – 14:00	General Assembly of Jc-IFToMM (Jc-IFToMM members only)
Break (14:00 – 14:10)
Session 2 Human assistive devices (14:10 – 15:25)	Chair: Masaharu Komori (Kyoto Univ.)
14:10	An assistive device for ankle motion *Takamaru Saito, Jiang Ming, Yusuke Sugahara, Yukio Takeda (Tokyo Tech.), Marco Ceccarelli (Univ. of Rome Tor Vergata)
14:25	Stacked and folded bimetal sheets as a compliant actuator *Noritomo Kota, Shunsuke Yoshimoto, Akio Yamamoto (Univ. Tokyo)
14:40	3D human motion acquisition and evaluation system based on openpose and 3D reconstruction for remote rehabilitation and exercise *Keisuke Osawa, Yu You, Yi Sun, Shun Zhang (Waseda Univ.), Megumi Shimodozono (Kagoshima Univ.), Eiichiro Tanaka (Waseda Univ.)
14:55	A friction-based passive haptic mouse using 2-stage electro-adhesion *Naoya Matsutani, Shunsuke Yoshimoto, Akio Yamamoto (Univ. Tokyo)
15:10	Design and simulation of a novel finger exoskeleton based on shape memory alloy actuators
Break (15:25 – 15:35)
Session 3: Modeling and evaluation (15:35 – 16:50)	Chair: Yukio Takeda (Tokyo Tech.)
15:35	Mobile robotics for industrial applications *Rocco Galati, Giacomo Mantriota, Giulio Reina (Polytechnic Univ. of Bari)
15:50	Head shaking test: human balance ability evaluation test by estimating control parameters for fall preventions *Emiko Uchiyama (Univ. Tokyo), Wataru Takano (Osaka Univ.), Yoshihiko Nakamura, Tomoki Tanaka, Katsuya Iijima (Univ. Tokyo)
16:05	User-firendly interface for trajectory learning of an assistive mobile manipulator *Lorenzo Baglieri, Luigi Tagliavini, Andrea Botta, Giovanni Colucci, Giuseppe Quaglia (Politecnico di Torino)
16:20	Experimental testing of the torveastro astronaut robot *Jorge Enrique Araque Ishidro, Marco Ceccarelli (Univ. of Rome Tor Vergata)
16:35	Experimental characterization of a flexible joint with controlled stiffness for the development of a rehabilitation passive hand *Mohammad Jabari, Giovanni Colucci, Luigi Tagliavini, Lorenzo Baglieri, Carmen Visconte (Politecnico di Torino)
Break (16:50 – 17:00)
Closing Ceremony
17:00	Young Investigator Fund, Best Paper Award Ceremony Chair: Atsushi Konno (Hokkaido Univ.)
17:15	Closing address by Masaharu Komori (Kyoto Univ.), Vice-president of Jc-IFToMM

5th Jc-IFToMM International Symposium in conjunction with the 28th Jc-IFToMM Symposium on Theory of Machines and Mechanisms

Date:

15 July, 2022 (Fri.) Technical tour, 16 (Sat.) Symposium and annual meeting

Fees:

Jc-IFToMM Member:	Free
IFToMM Community:	10,000 JPY
Regular Attendees:	15,000 JPY
Students:	2,000 JPY
Participants from overseas (except Japanese participants) can join the symposium via an online platform, and fee is free in that case (Events except the symposium (lab tour etc.) are excluded).

Technical tour on 15 July (Fri.)

Gathering place: Entrance of C3 bldg., Katsura campus, Kyoto university

Laboratories in the tour: Matsuno lab., Matsubara lab., Komori lab.

Registration: Registeration in advance is required.
Please e-mail the following information to komorim[at]me.kyoto-u.ac.jp.
* Your name
* Affiliation
* Member of society or Student
* Nationality
Deadline of registration is 17:00pm, 5 July. Number of acceptable perticipants is limited.

Note: When Covid-19 situation becomes severe, the tour may be cancelled.

Symposium program on 16 July (Sat.)

PDF version is here

Venue: Room 3, C3 bldg., Katsura campus, Kyoto University.

Plase pay attention to the time table of public transortation (bus). Number of operation is decreased on Saturday.

[About lunch] You can only find Coop cafeteria around the venue on Saturday. In addition, closing time of the cafeteria is early on that day.

Coop cafeteria, Selene

9:00	Opening address by Nobuyuki Iwatsuki (Tokyo Tech.), President of Jc-IFToMM
Session 1: Machine Elements and Materials (9:05 – 10:25) Chair: Hitoshi Kimura (Tamagawa Univ.)
9:05	Analysis of a motion of a steel ball ruled by contact with grooves on upper and lower tracks *Yoshiyuki Oyama, D. Matsuura, T. Kobayashi (Tokyo Tech.) (Presentation and paper in Japanese)
9:25	Design of origami-inspired fall prevention device based on portability and extension characteristics *Ryunosuke Natsume, K. Hoshiba, Y. Sugahara, Y. Takeda (Tokyo Tech.), S. Shimono (The KAITEKI Institute, Inc.) (Presentation in English, paper in Japanese)
9:45	Analysis on contact ratio of noncircular gear *Hikaru Koyama, M. Komori (Kyoto Univ.)
10:05	Elastic modulus adjustment of a thermoresponsive biological tissue phantom for safety assessment of energy devices *Minako Hirabayashi, K. Yamamoto, K. Hara, E. Kobayashi, I. Sakuma (Univ. Tokyo), Y. Akagi (Tokyo Univ. of Agriculture and Tech.)
Break (10:25 – 10:40)
Session 2: Modeling (10:40 – 12:00) Chair: Akio Yamamoto (Univ. Tokyo)
10:40	Discrimination of normal and abnormal lung sounds using auscultation data on a microcomputer *Shunsuke Komizunai, T. Fujiwara, A. Konno (Hokkaido Univ.)
11:00	Adaptive landing of an underactuated leg mechanism constrained with springs *Yuma Yokota, N. Iwatsuki (Tokyo Tech.)
11:20	Effect of dynamic loads on the gravity compensation design of serial robots *Vu Linh Nguyen (National Chin-Yi Univ. of Technology), C-H. Kuo (Univ. of Wollongong)
11:40	Dynamic modeling and parameter identification of an elastic rod for analyzing real fly-fishing *Ryosuke Hakamata, M. Endo, Y. Sugahara, Y. Takeda (Tokyo Tech.), H. Ishii (Waseda Univ.)
Lunch Break (12:00 – 13:00)General Assembly of Jc-IFToMM (Jc-IFToMM members only) (13:00 – 14:15）
Break (14:15 – 14:30)
Session 3: Mechanisms: Synthesis and Simulation (14:30 – 15:30) Chair: Mitsuru Endo (Tokyo Tech.)
14:30	A concept of 3D super multi DOF robot arm based on electrostatic layer jamming *Haitao Wang, S. Yoshimoto, A. Yamamoto (Tokyo Univ.)
14:50	A preliminary synthesis of a light and compact wearable cable-driven parallel robot for wrist joint rehabilitation *Giovanni Colucci, A. Botta, M. Verutti, C. Visconte, G. Quaglia (Politecnico di Torino), Y-C. Liu, Y. Takeda (TokyoTech.)
15:10	Graphic user interface for motion, simulation and evaluation of a parallel cable driven robot *Vincenzo Pugliese (University of Calabria), F. Ennaiem, J. Sandoval (University of Poitiers), G. Carbone (University of Calabria), M. A. Laribi (University of Poitiers)
Break (15:30 – 15:45)
Session 4: Medical Applications (15:45 – 16:45) Chair: Takashi Harada (Kindai University)
15:45	The development of skill evaluation system for laparoscopic surgical procedure *Koki Ebina, T. Abe, K. Hotta, M. Higuchi, J. Furumido, N. Iwahara, M. Kon, S. Komizunai, Y. Kurashima, H. Kikuchi, R. Matsumoto, T. Osawa, S. Murai (Hokkaido Univ.), T. Tsujita (National Defense Academy of Japan), K. Sase (Tohoku Gakuin Univ.), X. Chen (Hirosaki Univ.), N. Shinohara, A. Konno (Hokkaido Univ.)
16:05	An experimental characterization of respiration biomechanics by a Holter device *Matteo Aquilini, M. Ceccarelli, M. D’Onofrio, V. Ambrogi (University of Rome Tor Vergata)
16:25	DOT PAQUITOP: a mobile robotic assistant for the hospital environment *Luigi Tagliavini, L. Baglieri, A. Botta, G. Colucci, P. Cavallone, C. Visconte, G. Quaglia (Politecnico di Torino)
Break (16:45 – 17:00)
Session 5: Machine Dynamics (16:20 – 17:40) Chair: Daisuke Matsuura (Tokyo Tech.)
17:00	Effective approach to modeling the hydrodynamic response of a multibody system with suspended load in the time domain *Oleg Makarov, T. Harada (Kindai Univ.)
17:20	Nonlinear model predictive control of omnidirectional robots using a spraying unit *Rocco Galati, G. Mantriota, G. Reina (Polytechnic University of Bari)
17:40	Discriminant analysis of the vibrational dynamics of a gas microturbine with different fuels *Mario Spirto, S. Savino, G. Quaremba, C. Cosenza, A. Nicolella, V. Niola (University of Naples Federico II)
Break (18:00 – 18:15)
Closing Ceremony
18:15	Partnership ceremony between IFToMM Italy and Jc-IFToMM
18:25	Young Investigator Fund, Best Paper Award Ceremony Chair: Atsushi Konno (Hokkaido Univ.)
18:35	Closing address by Masaharu Komori (Kyoto Univ.), Vice-president of Jc-IFToMM

Photo gallery

Winners of the Young Investigator Fund Best Paper Award

Jc-IFToMM Annual Meeting 2021 and the 4th International Jc-IFToMM Symposium (The 27th Symposium on Theory of Machines and Mechanisms)

Date: November 13 (Saturday), 2021 (from 13:00 till 18:00)

Venue: Online symposium with ZOOM software

In order to obtain the URL of Zoom site and download link of the proceedings, please register your information via a registration site.

Registration Fees:

Member of Jc-IFToMM	Free
Students	Free
Member of MO of IFToMM	5,000 JPY
Others	5,000 JPY

プログラム（PDF version）

13:00	Opening address by Nobuyuki Iwatsuki (Tokyo Tech.), President of Jc-IFToMM
Session 1 Japanese session (13:05 – 14:05) Chair: Kenjiro Takemura (Keio Univ.)
13:05	# Design for Teeth Surface of Cylindrical Variable Ratio Gear *T. Suwa, D. Matsuura, T. Kobayashi (Tokyo Tech.)
13:25	# Driving Performance Analysis of Vehicle Equipped with Active Omni wheel *S. Long, T. Terakawa, M. Komori, K. Matsuda (Kyoto Univ.)
13:45	# Clarification of Tooth Wear Mechanism Focusing on Contact Surface Pressure and Sliding Velocity *T. Fukuoka, D. Matsuura, T. Kobayashi (Tokyo Tech.)
14:05 – 14:15	Break
Special Lecture (14:15 – 15:15) Chair: Nobuyuki Iwatsuki (Tokyo Tech.)
14:15	# Introduction to Human Digital-Twin and Data Science Yoshihiko Nakamura (Univ. Tokyo)
15:15 – 15:25	Break
Session 2 International Session (15:25 – 16:05) Chair: Masaharu Komori (Kyoto Univ.)
15:25	Kinematic Analysis of Spatial Closed-Loop Link Mechanisms Based on Spatial 3-link Prime Structures *T. Aruga, N. Iwatsuki (Tokyo Tech.)
15:45	Performance Comparison of Electrostatic Film Motors with Different Surface Treatments to Reduce Friction *G. Zhang (Univ. Tokyo), M. Osada (Univ. Tokyo, Honda R&D), S. Yoshimoto, A. Yamamoto (Univ. Tokyo)
16:05 – 16:10	Break
Advanced research seminar (16:10 – 16:45) Chair: Akio Yamamoto (Univ. Tokyo)
16:10	# State-of-the-art research on human interface Satoshi Miura (Tokyo Tech.)
16:45 – 16:50	Break
Session 3 (16:50 – 17:50) Chair: Ken Sasaki (Univ. Tokyo)
16:50	# A Lightweight Forearm Prosthesis using Ultrasonic Motors Aiming for Silent Motion *S. Sakamoto, K. Takemura (Keio Univ.)
17:10	# Problems about Video Motion Capture Caused by the Difference Between 3D Reconstructed Skeleton Based on Image Dataset and Bio-Mechanical Skeleton *N. Ooke, Y. Ikegami, K. Yamamoto, Y. Nakamura (Univ. Tokyo)
17:30	# Investigation of a Flexural-Shape Basket Catheter for Secure Electrode Contact with Atrial Inner Wall *R. Shiroishi, N. Tomii, H. Seno, K. Nakagawa, M. Yamazaki, E. Kobayashi, I. Sakuma (Univ. Tokyo)
17:50	Young Investigator Fund, Best Paper Award Ceremony (17:50 – 18:00) Chair: Akio Yamamoto (Univ. Tokyo)
17:55	Closing address by Masaharu Komori (Kyoto Univ.), Vice-president of Jc-IFToMM

Jc-IFToMM Annual Meeting 2020 and The 3rd International Jc-IFToMM Symposium (The 26th Symposium on Theory of Machines and Mechanisms)

Date: March 19(Friday), 2021

Venue: Online symposium with ZOOM software

Zoom URL will be announced to attendees who will register to attend via WEB site.
Download URL for the preprints of the symposium will also be announced.

Registration Fees:

Member of Jc-IFToMM	Free
Students	Free
Member of MO of IFToMM	5,000 JPY
Others	5,000 JPY

Program（PDF version）

Jc-IFToMM Annual Meeting 2020 (13:00 – 14:30)
13:00	Address from president: Atsuo TAKANISHI (Waseda Univ., Japan) Chair : Gentiane VENTURE (Tokyo Univ. of Agriculture and Technology, Japan)
International Jc-IFToMM Symposium 2020 (14:30 – 20:15)
14:30	Opening Address by Atsuo TAKANISHI President, Jc-IFToMM (Waseda Univ., Japan)
Session 1 : Human and Robot Interaction (14:35 – 15:50) Chair: Nobuyuki IWATSUKI (Tokyo Tech, Japan)
14:35	High-speed Interactive Musculoskeletal analysis visualization and VR implementation for Sport Training *Akimitsu SAKURAI (The Univ. of Tokyo, Japan), Yosuke IKEGAMI, Ko YAMAMOTO, Milutin NIKOLIĆ (Univ. of Novi Sad, Serbia) and Yoshihiko NAKAMURA (The Univ. of Tokyo, Japan)
15:00	Improving HRI by Force Sensing# *Akiyoshi HAYASHI (Tokyo Univ. of Agriculture and Technology, Japan), Liz Rincon-Ardila and Gentiane VENTURE
15:25	Stochastic Parameter Identification with the Specified Error Covariance# *Masafumi OKADA (Tokyo Tech, Japan) and Kazuki WATANABE
15:50	Break
Session 2 : Motion Planning (16:00 – 17:15) Chair: Yoshihiko NAKAMURA (The Univ. of Tokyo, Japan)
16:00	Active Physical Human-robot Interaction: an Experiment towards Quantifying Human Interactions *Yue HU (Tokyo Univ. of Agriculture and Technology), Gentiane VENTURE, Naoko ABE (The Univ. of Sydney), Mehdi BENALLEGUE (AIST), Natsuki YAMANOBE and Eiichi YOSHIDA
16:25	On-line Obstacle Avoidance with Smooth Path Planning for Redundant Manipulators *Cecilia SCOCCIA (Polytechnic University of Marche, Italy) and Giacomo PALMIERI
16:50	Motion Planning Strategies for Omnidirectional Mobile Robots *Luige TAGLIAVINI (Politecnico di Torino) , Andrea BOTTA, Paride CAVALLONE, Giovanni COLUCCI, Luca CARBONARI and Giuseppe QUAGLIA
17:15	Break
Special Lectures: (17:25 – 18:25) Chair: Yukio TAKEDA (Tokyo Tech, Japan)
17:25	IFToMM Collaboration between Italy and Japan Prof. Giuseppe QUAGLIA, Politecnico di Torino, Italy
17:55	Some Memories of the RoManSy Symposia in the 1980s: Part of the Activities of the Jc-IFToMM Prof. Atsuo TAKANISHI, President, Jc-IFToMM, Waseda Univ., Japan
18:25	Break
Session 3 : Analysis and Control of Mechanisms (18:35 – 19:50) Chair: Kenjiro TAKEMURA (Keio Univ., Japan)
18:35	Analysis of a 3-DOF Parallel Robot for Wrist Rehabilitation with Consideration of Effect of Human Limb *Ying-Chi LIU (Tokyo Tech) and YUKIO TAKEDA
19:00	Actuation Strategy of Origami-inspired Extendable Mechanism to Achieve Rapid Extension and High Load Capacity *Hiroshi MATSUO (Tokyo Tech), Daisuke YAMAGUCHI, Yukio TAKEDA, Masahiko OTAKE (The KAITEKI Institute Inc.) and Haruhiko KUSAKA
19:25	A Model Based Dynamic Performance Analysis of a Robotic Manipulator Considering Flexibility Sources *C. E. CAPALBO. (Univ. of Calabria), F. COSCO, D. MUNDO and G. CARBONE
19:50	Closing Address by Ken SASAKI Vice President, Jc-IFToMM ((The Univ. of Tokyo, Japan)
20:00	Awarding Ceremony for Young Investigator Fund Best Paper Award Address from president: Atsuo TAKANISHI (Waseda Univ., Japan) Chair : Gentiane VENTURE (Tokyo Univ. of Agriculture and Technology, Japan)
20:15	ZOOM Lounge with free talking (20:15 – 21:30) Any attendees can join with foods and drinks prepared by themselves.

Note: The time is based on the Japanese standard time.

*:	Speaker
#:	Oral presentation in Japanese

The Second International Jc-IFToMM Symposium in conjunction with the Twenty-fifth Jc-IFToMM Symposium on Theory of Machines and Mechanisms

Special Issue: “Selected Papers from Advances of Japanese Machine Design”

Date: October 25 (Fri) – 26 (Sat), 2019,
Oct. 25 (Fri) : Technical Tour
Oct. 26 (Sat) : Symposium and Technical Networking Event

Frees:

Jc-IFToMM member	5,000 JPY
Students	2,000 JPY
Other IFToMM MOs member	10,000 JPY
Non member	15,000 JPY

PDF program

Technical Tour on October 25

Place	AIST Tokyo Water Front Collaboration Center, National Institute of Advanced Industrial Science and Technology 2-3-6 Aomi, Koto-ku, Tokyo 135-0064 (3 minutes on foot from Yurikamome Line, Telecom Center Station) Hongo Campus, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033 (8 minutes on foo from Tokyo Metro Marunouchi Line, Hongo 3 chome Station)
Time table	9:55 Meet at entrance of AIST Tokyo Water Front Collaboration Center, then visit AIST Tokyo Water Front Collaboration Center. Afternoon Visit Yoshihiko NAKAMURA and GoYAMAMOTO lab Akio YAMAMOTO lab, The University of Tokyo. Evening Wine party
Registration	Please register by October 18 via the following WEB site: https://forms.gle/Ny2RETwPzn6BvMJn6

Symposium and Technical Networking Event on October 26

Venue: Room A416 and A417, Area 2 Building-A, Ikuta Campus, Meiji University
10 minutes on foot from Odakyu Line (both semi-express, and local trains), Ikuta Station

8:10	Registration at reception desk
8:45	Opening Address by Atsuo TAKANISHI, President, Jc-IFToMM (Waseda Univ., Japan)
Robot Control (8:50 – 10:30) Chair: Yoshihiko NAKAMURA (Univ. of Tokyo, Japan)
8:50	Low-cost Localization for Mobile Robot with Fiducial Markers *Andrea BOTTA (Politecnico di Torino, Italy) and Giuseppe QUAGLIA
9:10	3D Swarm Intelligence by Concentric Sphere Model *Keita GOTO (Kogakuin Univ., Japan). Hideaki TAKANOBU, Yo OAKU, Kenji SUZUKI, Shohei KANEDA and Hirofumi MIURA
9:30	Adaptive Optimal Predictive Control System for Cognitive Manipulator Robots based on Human Engagement/Intention and Deep Dynamic Perception *Liz RINCON(Tokyo Univ. of Agriculture and Technology, Japan), Florian FILLOL, Enrique CORONADO and Gentiane VENTURE
9:50	Development of Expressive Intelligence Controller during Collaborative Tasks between Human & Robot *Seiji YAMAGUCHI(Tokyo Univ. of Agriculture and Technology, Japan), Liz RINCON-ARDILA and Gentiane VENTURE
10:10	Development of Disaster Response Robot for Extreme Environments – 33^rd Report: Crawling Motion Generation for All Direction Moving based on Stability and Foot Movable Range of a Four-limbed Robot – *Takashi MATSUZAWA (Waseda Univ., Japan), Xiao SUN, Hiroshi NAITO, Keisuke NAMURA, Takehiro SATO, Kota TERAE, Masatsugu MURAKAMI, Shunya YOSHIDA, Akira ITO, Takahisa JONDO, Astuo TAKANISHI and Kenji HASHIMOTO(Meiji Univ., Japan)
Bio break (10:30 – 10:50)
Special Lecture (10:50 – 12:10) Chair: Yukio TAKEDA (Tokyo Tech, Japan)
10:50	Introduction of Activities of IFToMM Italy Prof. Giuseppe QUAGLIA, Politecnico di Torino, Italy
11:30	Whole-body Control of Humanoid Robots in Multi-contact Scenarios Prof. Milutin NIKOLIC, Univ. of Novi Sad, Serbia / Univ. of Tokyo, Japan
Luncheon (12:10 – 13:40)	[During Luncheon] Jc-IFToMM Annual Meeting 2019 (12:20 – 13:30) Address from president: Atsuo TAKANISHI (Waseda Univ., Japan) Chair : Gentiane VENTURE (Tokyo Univ. of Agriculture and Technology, Japan)
Session 2 : Dynamic Analysis of Mechanisms (13:40 – 14:40) Chair: Atsuo TAKANISHI (Waseda Univ., Japan)
13:40	Energetic Analysis of Industrial Robots for Pick-and-place Operations *Fabrizio VIDUSSI(Univ. of Udine, Italy), Paolo BOSCARIOL(Univ. of Padua-Padova, Italy), Lorenzo SCALERA(Free Univ. of Bozen-Bolzano, Italy) and Alessandro GASPARETTO(Univ. of Udine, Italy)
14:00	Design of a Testbench for Validating Multibody Flexible Models Aimed at Reducing Oscillations in Parallel Kinematic Machines with Flexible Links *Stefano BRILLARELLI(Polytechnic University of Marche, Italy) and Matteo PALPACELLI
14:20	Dynamic Analysis of Walking with Cane for Elderly People Using Model with Dynamic Pair *Soichiro MATSUDA(Tokyo Tech, Japan) and Yukio TAKEDA
Bio break (14:40 – 15:00)
Session 3 : Welfare Devices (15:00 – 16:00) Chair: Gentiane VENTURE (Tokyo Univ. of Agriculture and Technology, Japan)
15:00	Development of a Knee Joint Assist Suit with a Velocity-based Mechanical Safety Device (Study of Control Method) *Keisuke IKEDA(Tokai Univ., Japan), Tsubasa KANEDA, Atsushi KANETA, Yoshihiro KAI, Kenichi SUGAWARA(Kanagawa Univ. of Human Service, Japan), Masayoshi TOMIZUKA(Univ. of California, USA), Tetsuya TANIOKA(Tokushima Univ., Japan) and Kensaku TAKASE(Tokushima Prefectural Central Hospital, Japan)
15:20	Design of an Elbow Joint Assist Suit with a Compact Velocity-based Mechanical Safety Device *Tsubasa KANEDA(Tokai Univ., Japan), Keisuke IKEDA, Atsushi KANETA, Yoshihiro KAI, Kenichi SUGAWARA(Kanagawa Univ. of Human Service, Japan), Masayoshi TOMIZUKA (Univ. of California, USA) , Tetsuya TANIOKA(Tokushima Univ., Japan) and Kensaku TAKASE (Tokushima Prefectural Central Hospital, Japan)
15:40	Kineto-static Analysis of a Wrist Rehabilitation Robot with Compliant Elements and Supplementary Passive Joints to Compensate the Joint Misalignment *Ying-Chi LIU(Tokyo Tech, Japan) and Yukio TAKEDA
Bio break (16:00 – 16:20)
Session 4 : Mechanism Design (16:20 – 17:40) Chair: Yoshihiro KAI (Tokai Univ., Japan)
16:20	Automated Kinematic Analysis of Planar Link Mechanisms *Tatsuya YAMAMOTO(Tokyo Tech, Japan), Nobuyuki IWATSUKI and Ikuma IKEDA
16:40	Linkage and Cam Design with Mechanism Developer (MECHDEV) Mario MUELLER(RWTH Aachen Univ., Germany), *Mathias HUESING, Agnes BECKERMANN and Burkhard CORVES
17:00	Improvement of an Origami Based Extendable Mechanism with a Modification of Folding Diagram so as to Have a Tapered Shape *Hiroshi MATSUO(Tokyo Tech, Japan) and Yukio Takeda
17:20	DMG-LIB: The Digital Mechanism and Gear Library as a Basis for an IFToMM Archive Torsten BRIX(Technical Univ. Ilmenau, Germany), Ulf DOERING, *Burkhard CORVES(RWTH Aachen Univ., Germany)
17:40	Closing Address by Nobuyuki IWATSUKI, Vice President, Jc-IFToMM (Tokyo Tech, Japan)
18:00	Technical Networking Event (18:00-19:30) including Awarding Ceremony for Young Investigator Fund Best Paper Award Venue: 3rd Floor, Restaurant Building SQUARE

The 24th Symposium on Theory of Machines and Mechanisms

Date: June 1, 2018

Venue: Nakashima hall, Food Science bldg., Yayoi campus, The University of Tokyo.

The University of Tokyo 1-1-1 Yayoi, Bunkyo-ku, Tokyo 113-8657. (4 min. walk from Todaimae Station, Tokyo Metro Nanboku Line,5 min. walk from Nezu Station, Tokyo Metro Chiyoda Line, 12 min. walk from Hongo 3-chome Station, Tokyo Metro Marunouchi Line)

Registration fee: Free

Program (PDF version)

9:00	Reception site open
9:20	Opening Address by Atsuo TAKANISHI, President, Jc-IFToMM (Waseda Univ.)
Session 1: Kinematics (9:30 – 10:50) Chair: Yoshihiko NAKAMURA (Univ. of Tokyo)
9:30	Development of Disaster Response Robot for Extreme Environment -22nd Report: Realization of Boring Work with Electric Drill Using End-effector for the Locomotion and Simple Work of a Four-limbed Robot – *Takashi MATSUZAWA (Graduate Student, Waseda Univ.), Asaki IMAI, Nobuaki SAKAI, Yuki YOSHIDA, Koki YAMAGUCHI, Xiao SUN, Kenji HASHIMOTO (Waseda Univ.) and Atsuo TAKANISHI
9:50	A 7R Linkage for Ankle Rehabilitation: Kinematics and Force Analyses *Chih-Ching HSIEH, Chin-Hsing KUO (National Taiwan University of Science and Technology), Daisuke MATSUURA (Tokyo Institute of Technology) and Yukio TAKEDA
10:10	A General Iterative Method for Inverse Kinematics of 3-Limb Parallel Mechanism with 3 DOF Based on Kinematically Equivalent Mechanism *Xinghai LIANG (Tokyo Institute of Technology) and Yukio TAKEDA
10:30	Kinematic Characterization of an Extendable Mechanism Based on an Origami Structure While Considering Its Stability *Hiroshi MATSUO (Graduate Student, Tokyo Tech), Daisuke MATSUURA (Tokyo Tech), Yusuke SUGAHARA and Yukio TAKEDA
Coffee Break (10:50 – 11:00)
Special Lecture 1: Towards Autonomous and Safe Human-Robot/Robot-Robot Cooperative Tasks (11:00 – 12:00)	Lecturer: Prof. Wael SULEIMAN (Electrical and Computer Engineering Department, Universite de Sherbrooke, Canada) Chair: Gentiane VENTURE (TUAT)
Jc-IFToMM Annual Meeting 2017 (12:00 – 13:30) Address from president: Atsuo TAKANISHI (Waseda Univ.) Chair : Gentiane VENTURE (TUAT)
Session 2: Humanoid Robots (13:30 – 14:50) Chair: Atsuo TAKANISHI (Waseda Univ.)
13:30	Growing Humanoid Robot and Rolling over Motion *Tomohiro KANAGAWA(Graduate Student, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Hiroaki HANAI, Kenji SUZUKI and Hirofumi MIURA
13:50	Walking Control of EHA Driven Humanoid Robot HYDRA *Kazuya MUROTANI (Graduate Student, Univ. of Tokyo), Tianyi KO, Ko YAMAMOTO (Univ. of Tokyo), Yoshihiko NAKAMURA
14:10	Whole-body Motor Control Performance Evaluation of the Hydrostatically Driven Humanoid “HYDRA” *Tianyi KO (Graduate Student, Univ. of Tokyo), Kazuya MUROTANI, Ko YAMAMOTO (Univ. of Tokyo), Yoshihiko NAKAMURA
14:30	Using Jamming Phenomenon in MR Fluid to Design a Finger Assistive Device *Misato BABA (TUAT) and Gentiane VENTURE
Coffee Break (14:50 – 15:00)
Special Lecture 2: Organic Mechanical Materials Toward Soft-Robotics (15:00 – 16:00)	Lecturer: Prof. Hideko KOSHIMA (Research Organization for Nano & Life Innovation, Waseda Univ.) Chair: Yoshihiko NAKAMURA (Univ. of Tokyo)
16:10	Closing Address by Nobuyuki IWATSUKI, Vice President, Jc-IFToMM (Tokyo Tech.)
Laboratory tour (16:30 – 17:30)
17:30	Young Investigator Fund Best Paper Award ceremony and Technical networking event Room 31A, 3^rd floor of Faculty of Engineering Bldg.2. *The fee is 5,000 JPY and free for students.

The 23rd Symposium on Theory of Machines and Mechanisms

Date: June 9, 2017

Venue: Multipurpose Room, 3rd Floor, Ellipse Bldg.,
Tokyo University of Agriculture and Technology (Koganei Campus)

2-24-16 Nakamachi, Koganei-shi, Tokyo 184-8588
(8 min. walk from Higashikoganei Station, JR Chuo Line)聴講料：無料

Program (PDF file)

8:30	Reception site open
8:40	Opening Address by Atsuo TAKANISHI, President, Jc-IFToMM (Waseda Univ.)
Special Session 1 : Humanoid Robots and Related Technologies (8:45 – 9:45) Moderator: Atsuo TAKANISHI (Waseda Univ.)
8:45	Study on Robot that can Grow Like Humans -Modeling of Human Physical Growth and Variable Height and Weight Mechanism- *Hiroaki HANAI (Graduate Student, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Takayuki MATSUZAWA, Kenji SUZUKI and Hirofumi MIURA
9:00	assive Device for Bipedal Robots to Walk on Uneven Terrain *Kota SUZUI (Graduate Student, TUAT) and Gentiane VENTURE (TUAT)
9:15	Vital Signs Expression by Patient Robot *Junya ISHI (Graduate Student, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Toshifumi NAKAJIMA, Kenji SUZUKI and Hirofumi MIURA
9:30	Research on Biped Running Robot Utilizing Pelvic Movement -15th Report: Running Speed Estimation Using Joint Angle Sensor- *Mutsuki OHARA (Graduate Student, Waseda Univ.), Takaya ISOMICHI, Takuya OTANI (Waseda Univ.), Kenji HASHIMOTO, Hun-Ok LIM (Kanagawa Univ.) and Atsuo TAKANISHI (Waseda Univ.)
Coffee Break　(9:45～10:00)
General session (10:00～11:00) Chair: Nobuyuki Iwatsuki (Tokyo Tech)
10:00	Research about Dynamical Characteristics and Biomechanics of Double Leg Circles on Pommel Horse *Ayaka YAMADA (Graduate Student, Univ. of Tokyo), Yosuke IKEGAMI and Yoshihiko NAKAMURA (Univ. of Tokyo)
10:15	A Study on an Effective Shape of the Cylindrical Cam for Jumping Motion of Tiny Mobile Robot *Katsuaki TANAKA (Graduate Student, Waseda Univ.), Sho INOUE, Hiroya YOKOYAMA, Satoshi OKABAYASHI (Bunka Gakuen Univ.), Qing SHI (Beijing Institute of Technology), Yusuke SUGAHARA (Tokyo Tech.) and Atsuo TAKANISHI (Waseda Univ.)
10:30	Variable Velocity Function of Swarm Robots *Yo OAKU (Graduate Student, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Satoru HOUKITA, Takuya FUJIMORI, Kenji SUZUKI and Hirofumi MIURA
10:45	Predictive Control for a Manipulator Robot with Robustification by Youla Parameter *Liz Rincon ARDILA (TUAT), Takuma KATSUMATA and Gentiane VENTURE
Jc-IFToMM Annual Meeting 2017 (11:10 – 12:00) Address from president: Atsuo TAKANISHI (Waseda Univ.) Chair : Gentiane VENTURE (TUAT)
Lunch Break　(12:00～13:00)
Industrial Technology Session (poster session, 13:00 – 13:45)	Factory Centered Principle – Robot Development Team – Koichi ISHIHARA (Toshin Seisakusho) Baseball Batting Motion Analysis using nMotion musculous Shinichi MASUDA (nac Image Technology Inc.) Design and Prototyping for Developing New Products – Development of Rehabilitation Device for Ankle Joint – *Toshihiro ICHINOSEKI (Abetechnosystem Corp.)
Coffee Break　(13:45～14:00)
Special Session 2 : Techniques to Analyze and Design Mechanisms (14:00～16:45) Moderator: Yukio Takeda (Tokyo Tech) Chair: Yukio Takeda (Tokyo Tech)
14:00	Development of High Output and High Rigidity Hydraulic Pump Using Fine Ceramics as Structural Material *Mitsuo KOMAGATA (Graduate Student, Univ. of Tokyo), Shunsuke SATO, Hiroshi KAMINAGA (Univ. of Tokyo) and Yoshihiko NAKAMURA
14:15	Research on Oral Surgical Retractor *Hikaru KITAGAWA (Graduate Student, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Yuta SHIMOMAKI, Kenji SUZUKI, Hirofumi MIURA and Akira SHIMIZU (Tokyo Medical Univ.)
14:30	Development of Flexible Actuator with Bag-like Structure *Daiki YASUI (Graduate Student, Tokyo Tech.), Takashi IKEDA, Hitoshi KIMURA (Tokyo Tech.) and Norio INOU
Coffee Break　(14:45～15:00)
Chair: Hideaki TAKANOBU (Kogakuin Univ.)
15:00	Kinematic Clearance Sensitivity Analysis of Parallel Mechanism during Acceleration based on d’Alembert’s Principle *Masumi OHNO (Graduate Student, Tokyo Tech.) and Yukio TAKEDA (Tokyo Tech.)
15:15	Mobile Robots on Construction Sites: Challenges and Developments *Tim DETERT (RWTH Aachen Univ.), Burkhard CORVES, Mathias HUSING, Jean-Christopher FAUROUX (SIGMA Clermont) and Francesco BECCHI (Danieli Telerobot Labs Srl)
15:30	Design and Analysis of an Improved Jansen Leg Mechanism Capable of Passively Adapting to Obstacles *Alexander SZIGETI (Graduate Student, Tokyo Tech), Daisuke MATSUURA (Tokyo Tech) and Yukio TAKEDA
Coffee Break　(15:45～16:00)
Chair: Yoshihiko NAKAMURA (Univ. of Tokyo)
16:00	acobian Analysis of a 3-UPR Parallel Manipulator for a Robotic Leg Application *Matteo RUSSO (Univ. of Cassino and Southern Latium), Yukio TAKEDA (Tokyo Tech) and Marco CECCARELLI (Univ. of Cassino and Southern Latium)
16:15	A Survey on Fully -Parallel Delta-like Robots with Articulated and Unarticulated Platforms *Jan BRINKER (RWTH Aachen Univ.), Burkhard CORVES, Mathias HUSING and Yukio TAKEDA (Tokyo Tech)
16:30	Transmissibility and Singularity Analysis of 3-PRS Parallel Mechanism Based on Pressure Angle *Xinghai LIANG (Graduate Student, Tokyo Tech) and Yukio TAKEDA (Tokyo Tech)
Coffee Break　(16:45～17:00)
Special Lectures (17:00 – 18:00) Chair:Yukio TAKEDA (Tokyo Tech.)	Lecture 1: Concepts of IFToMM D-A-CH Workshop Lecturer: Prof. Mathias HUSING Dept. of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Germany Lecture 2: On Actual Developments of Mechanism Science in Germany (D), Austria (A) & Switzerland (CH) based on IFToMM D-A-CH Workshops Lecturer: Prof. Burkhard CORVES Dept. of Mechanism Theory and Dynamics of Machines, RWTH Aachen University, Germany
18:00	Closing Address by Nobuyuki IWATSUKI, Vice President, Jc-IFToMM (Tokyo Tech.)
TUAT lab tour (3-labs.) (18:10～19:10)
19:10	Award ceremony and technical discussions at Multipurpose Room, 3rd Floor, Ellipse Bldg. The fee is 5,000 JPY and free for students.

The 22nd Symposium on Theory of Machines and Mechanisms

Date: July 30 (Sat), 2016

Venue: Conference Room, 1st Floor, No.55 North Bldg., Waseda University (Nishiwaseda Campus)
4-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555

Registration fee: Free

Program (PDF version)

12:20	Symposium site opnes
12:55	Opening Address by Haruo HOUJOH, President of Jc-IFToMM (Tokyo Tech.)
Session 1: Application of Motion Mechanisms (13:00-13:40) Chair: Wataru TAKANO (Univ. of Tokyo)
13:00	Kinematic Characterization of the Origami Spring Based on Spatial 6R Linkages – A Workspace Analysis – *Hiroshi MATSUO (School of Engineering, Tokyo Tech.), Daisuke MATSUURA, Yusuke SUGAHARA and Yukio TAKEDA
13:20	Conceptual Design of a Cable Driven Parallel Mechanism for Planar Earthquake Simulation Daisuke MATSUURA(Tokyo Tech, School of Engineering), Shota ISHIDA, Muhamad AKRAMIN, *Emek Baris KUCUKTABAK, Yusuke SUGAHARA, Yukio TAKEDA, Nobuo FUKAWA(Nagoya Univ.) and Minoru YOSHIDA(Hakusan Corp.)
*Special lecture: Past and Futre of Robotics* (14:00-14:50)**	Lecturer: Dr. Masaru UCHIYAMA (Emeritus professor of Tohoku Univ., Tecnhical advisor of Miyagi Organization for Industry Promotion) Chair: Yukio TAKEDA (Tokyo Tech.)
Session 2: Legged Robot (15:00-16:00) Chair: Haruo HOUJOH (Tokyo Tech.)
15:00	3-Dimensional Motion Analysis of Rising Action by Humanoid Robot *Hiroaki HANAI (Graduate School, Kogakuin Univ.), Takayuki MATSUZAWA, Hideaki TAKANOBU (Kogakuin Univ.), Kenji SUZUKI and Hirofumi MIURA
15:20	Gait of Thermobot on Heated Slope *Takeru NEMOTO (Graduate School, Univ. of Tokyo) and Akio YAMAMOTO
15:40	Research on Biped Running Robot Utilizing Pelvic Movement – 12^th Report: Angular Momentum Control in Yaw Direction Using Upper Body – *Takuya OTANI (Waseda Univ.), Shunsuke MIYAMAE (Graduate School, Waseda Univ.), Kenji HASHIMOTO (Waseda Institute of Advanced Study/Humanoid Robotics Institute, Waseda Univ.), Masanori SAKAGUCHI (Univ. of Calgary), Yasuo KAWAKAMI (Faculty of Sport Science, Waseda Univ.), Hun-Ok LIM (Kanagawa Univ.) and Atsuo TAKANISHI (Waseda Institute of Advanced Study/Humanoid Robotics Institute, Waseda Univ.)
Session 3: Interaction between Human and Robot (16:20-17:00) Chair: Yusuke SUGAHARA (Tokyo Tech.)
16:20	Eye Motions of the Patient Robot *Junya ISHII (Graduate School, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Kenji SUZUKI and Hirofumi MIURA
16:40	Study on Human-Robot Interaction through Laughter – 4^th Report: Development of a Rib-Tickling Robot – *Tatsuhiro KISHI (Waseda Univ.), Takashi NOZAWA (Mejiro Univ.), Daisuke KUROIWA (Graduate School, Waseda Univ.), Souichirou SHIMOMURA, Tingting ZHONG, Mao KAWAI, Kazuhiro NITTO, Kouki NOMURA, Hiroya YOKOYAMA, Salvatore SESSA (Waseda Univ.), Kenji HASHIMOTO (Waseda Institute of Advanced Study/Humanoid Robotics Institute, Waseda Univ.) and Atsuo TAKANISHI
17:20	Closing Address by Atsuo TAKANISHI, Vice President, Jc-IFToMM (Waseda Univ.)
2016 Annual Meeting of Jc-IFToMM Address from President by Haruo HOUJOH (Tokyo Tech.) Moderator Yukio TAKEDA (Tokyo Tech.)
18:20	Wine party at Conference Room, 1st Floor, No.55 North Bldg. Fee: 5,000JPY (students won’t be charged)

The 21st Symposium on Theory of Machines and Mechanisms

Date: July 18 (Sat), 2015

Venue: Conference Room 304, 3rd Floor, Ishikawadai 3 Bldg., Tokyo Institute of Technology (Ohokayama Campus)
2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552
(8 min. walk from Ohokayama Station, Tokyu Meguro-line and Ohimachi-line)

Registration fee: Free

Program (PDF version)

12:20	Symposium site opens
12:55	Opening Address by Haruo HOUJOH, President of Jc-IFToMM (Tokyo Tech.)
Session 1: Measurement and Analysis of Vibration (13:00-13:40) Chair: Hithoshi KIMURA (Tokyo Tech.)
13:00	Experimental Identification and Higher Order Spectral Analysis of Vibration System with a Non-linear Spring Characteristic *Hiroyuki MATSUMOTO (Institute of Technologists), Gen WATANABE (Kogakuin Univ.), Tomohiro NEGAMI, Hisami OHISHI and Shinji YAMAKAWA
13:20	A Study on the Sidebands of Tooth Mesh Frequency Results of Planetary Gear System’s Vibration *Yusuke MIZUNO (Graduate School, Tokyo Tech.), Shigeki MATSUMURA (Tokyo Tech), Haruo HOUJOH and Takeshi IINO
Session 2: Mechanisms and Mechanical Elements (14:00-15:00) Chair: Masahito YASHIMA (National Defense Academy of Japan)
14:00	Design, Development and Generative Force Measurement of a 3D Magnetic Tweezer System Having Pole Positioning Mechanism *Hitoshi AOKI (Graduate School, Tokyo Tech.), Daisuke MATSUURA (Tokyo Tech.) and Yukio TAKEDA
14:20	Small Mechanical Valve with High Flow Rate for Simultaneous Control of Multiple Flow Channels and Its Experiment *Keisuke ARITA (Graduate School, Tokyo Tech.), Mokutaro KATAOKA, Hitoshi KIMURA (Tokyo Tech.) and Norio INOU
14:40	Research of the Group Action Using Airship Robots *Satoru HOUKITA (Graduate School, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Kenji SUZUKI and Hirofumi MIURA
Session 3: Robotics I (15:20-16:00) Chair: Masafumi OKADA (Tokyo Tech.)
15:20	Research on Biped Running Robot Utilizing Pelvic Movement – 9th Report: Running in Sagittal Plane with One Leg of Lower-body Robot That Mimics Human Joint Stiffness – *Takuya OTANI (Graduate School, Waseda Univ.), Masaaki YAHARA, Kenji HASHIMOTO (Waseda Univ.), Shunsuke MIYAMAE (Graduate School, Waseda Univ.), Takaya ISOMACHI, Masanori SAKAGUCHI (Univ. of Calgary), Yasuo KAWAKAMI (Waseda Univ.), Hun-Ok LIM (Kanagawa Univ.) and Atsuo TAKANISHI (Waseda Univ.)
15:40	Study of Dental Patient Robot – Motion of Multi-Joint Mechanism – *Yuta SHIMOMAKI (Graduate School, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Kenji SUZUKI, Hirofumi MIURA, Kotaro MAKI (Showa Univ. of Dentistry), Yoshikazu MIYAZAKI, Takeshi TANZAWA, Kenichi MIYAMOTO (Tmsuk Co. Ltd.), Yoichi TAKAMOTO, Atsuo TAKANISHI (Waseda Univ.)
Session 4: Robotics II (16:20-17:20) Chair: Kenjiro TAKEMURA (Keio Univ.)
16:20	Vital Signs of Dental Patient Robot *Yuta SHIMOMAKI (Graduate School, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Kenji SUZUKI, Hirofumi MIURA, Kotaro MAKI (Showa Univ. of Dentistry), Yoshikazu MIYAZAKI, Takeshi TANZAWA, Kenichi MIYAMOTO (Tmsuk Co. Ltd.), Yoichi TAKAMOTO, Atsuo TAKANISHI (Waseda Univ.)
16:40	Study on Robot That Can Grow Like Humans *Takayuki MASTUZAWA (Graduate School, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Kenji SUZUKI and Hirofumi MIURA
17:00	Development of Mobile Robot with Specially Designed Wheels *Hiyroyuki ISHII(Waseda Univ.), Katsuaki TANAKA, Daiki ENDO, Yuya OKAMOTO, Daisuke KUROIWA, Yusuke SUGAHARA (Kokushikan Univ.) and Atsuo TAKANISHI (Waseda Univ.)
17:20	Closing Address by Atsuo TAKANISHI, Vice President, Jc-IFToMM (Waseda Univ.)
2015 Annual Meeting of Jc-IFToMM Address from President by Haruo HOUJOH (Tokyo Tech.) Moderator Yukio TAKEDA (Tokyo Tech.)
18:30	Wine party Fee: 5,000JPY (students won’t be charged) Venue: Room 305, 3rd Floor, Ishikawadai 3 Bldg., Tokyo Institute of Technology

The 20th Symposium on Theory of Machines and Mechanisms

Date: May 24 (Sat), 2014

Venue: Conference Room 304, 3rd Floor, Ishikawadai 3 Bldg.,Tokyo Institute of Technology (Ohokayama Campus)
2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552
(8 min. walk from Ohokayama Station, Tokyu Meguro-line and Ohimachi-line)

Program (PDF version)

9:20	Symposium site opens
9:55	Opening Address by Haruo HOUJOH, President of Jc-IFToMM (Tokyo Tech.)
Session 1: Human Support (10:00-11:00) Chair: Ken SASAKI (The Univ. of Tokyo)
10:00	Higher-order Spectral Analysis and Experimental Identification of Non-linear Magnetic Spring Model *Takayuki NAKANO (Kogakuin Univ.), Hiroyuki MATSUMOTO (Institute of Techologists), Hisami OHISHI (Kogakuin Univ.) and Shinji YAMAKAWA
10:20	Individual Examination of Accelerometers and Integrated Displacement Calculation from Acceleration Data *Hitoshi KIMURA (Tokyo Tech.), Koudai KATO, Norio INOU and Minoru YOSHIDA (Hakusan Corp.)
10:40	Basic Research on Swarm Intelligence *Yuta SHIMIZU (Kogakuin Univ.), Hideaki TAKANOBU, Kenji SUZUKI, Hirofumi MIURA and Yoshinobu INADA (Tokai Univ.)
Session 2: Humanoid Robots (11:20-12:20) Chair: Yukio TAKEDA (Tokyo Tech.)
11:20	The Altered Physical Condition in a Dental Patient Robot *Shota HAMAGUCHI (Kogakuin Univ.), Hideaki TAKANOBU, Kenji SUZUKI, Hirofumi MIURA, Kotaro MAKI (Showa Univ.), Yoshikazu MIYAZAKI, Takeshi TANZAWA, Kenichi MIYAMOTO (Tmsuk CO. Ltd.), Yoichi TAKAMOTO, Atsuo TAKANISHI (Waseda Univ.)
11:40	Dynamics Identification of the Foot Flexible DOF of a Humanoid Robot *Yuya MIKAMI(Tokyo Univ. of Agriculture and Technology), Gentiane VENTURE, Thomas MOULARD (CNRS-AIST JRL) and Eiichi YOSHIDA
12:00	Research in Biped Running Robot Utilizing Pelvic Movement – 5th Report: Hopping Robot Using Pelvic Movement and Leg Elasticity of Multi-Joint Leg – *Takuya OTANI (Graduate School, Waseda Univ.), Masaaki YAHARA, Kazuhiro URYU, Akihiro IIZUKA, Shinya HAMAMOTO, Shunsuke MIYAMAE, Kenji HASHIMOTO, Masanori SAKAGUCHI (Univ. Calgary), Yasuo KAWAKAMI (Waseda Univ.), Hun-Ok LIM and Atsuo TAKANISHI
Luncheon (12:20-13:50)
Special Lecture (13:50-14:40) Why Do Robots Resemble Creatures? Lecturer: Prof. Koichi SUZUMORI (Tokyo Tech) Chair:Yukio TAKEDA (Tokyo Tech)
Session 3: Mechanisms and Accuracy (15:00-15:40) Chair: Atsuo TAKANISHI (Waseda Univ.)
15:00	Positioning-repeatability Improvement Based on Ultrasonic Vibration for Kinematic Coupling *Takaaki OIWA (Shizuoka Univ.), Hirokuni SHIBAZAKI, Kenji TERABAYASHI and Junichi ASAMA
15:20	Precise Pipe-Bending by 3-RPSR Parallel Mechanism Considering the Effect of Springback and Dies Clearances *Shohei KAWASUMI (Graduate School, Tokyo Tech.), Yukio TAKEDA and Daisuke MATSUURA
Session 4: Identification of Human Motion and Training Systems (16:00-17:00) Chair: Haruo HOUJOH (Tokyo Tech.)
16:00	Feature Extraction of EEG and Motion Data Using Canonical Correlation Analysis *Emiko UCHIYAMA (The Univ. of Tokyo), Jyunya OBARA, Ikuo KUSAJIMA, Akihiko MURAI, Wataru TAKANO and Yoshihiko NAKAMURA
16:20	Research of Hand Rehabilitation Device System Which Incorporated Visual and Tactile Feedback Takashi MORI (Graduate School, Shibaura Institute of Technology), *Takaya SEKI, Yukio SAITO (Shibaura Institute of Technology) and Takashi KOMEDA
16:40	Feature Extraction of Motion by Correlation Analysis for Task Execution *Keisuke UMEZAWA (The Univ. of Tokyo), Wataru TAKANO and Yoshihiko NAKAMURA
17:00	Closing Address by Atsuo TAKANISHI, Vice President, Jc-IFToMM (Waseda Univ.)
2014 Annual Meeting of Jc-IFToMM Address from President by Haruo HOUJOH (Tokyo Tech.) Moderator Yukio TAKEDA (Tokyo Tech.)
18:30	Technical Networking Event Fee: 5,000JPY (students won’t be charged) Venue: Room 305, 3rd Floor, Ishikawadai 3 Bldg., Tokyo Institute of Technology

The 19th Symposium on Theory of Machines and Mechanisms

Date: June 15 (Sat), 2013

Registration fee: Free

Program (PDF version)

9:20	Symposium site opens
9:55	Opening Address by Haruo HOUJOH, President of Jc-IFToMM (Tokyo Tech.)
Session 1: Human Support (10:00-11:00) Chair: Yukio TAKEDA (Tokyo Tech.)
10:00	Development and Performace Evaluation of Skill-less Crane System *Yuki HASHIZUME (Tokyo Univ. of Agriculture and Technology), Xiaochen ZHANG, Keisuke SIMONO and Yasutaka TAGAWA
10:20	Dental Patient Robot – Reproduction of Patient’s Hand to Fall Sick – *Shota HAMAGUCHI (Kogakuin Univ.), Hideaki TAKANOBU, Kenji SUZUKI, Hiroaki MIURA, Takashi ISHIGURO, Norio OKUBO, Kotaro MAKI (Showa Univ.), Yoshikazu MIYAZAKI, Mutsumi MADOKORO, Takeshi TANZAWA, Kenichi MIYAMOTO (tmsuk Co., Ltd.,), Koichi TAKATSUJI, Yusuke ISHII, Akihisa OKINO (Okino Industries Ltd.) and Atsuo TAKANISHI (Waseda Univ.)
10:40	Linear Reguression Modeling of Driver from Driving Information and Road Information Obtained from Omni-Directional Point-Cloud *Kohei HIROMATSU (Univ. of Tokyo), Wataru TAKANO and Yoshihiko NAKAMURA
Session 2: Mechanisms and Actuators (11:20-12:20) Chair: Haruo HOUJOH (Tokyo Tech.)
11:20	The Deformation Mechanism in Consideration of the Evolution of the Vertebrate *Moritaka TANIGUCHI (Institute of Technologists), Hiroyuki MATSUMOTO and Hisami OHISHI (Kogakuin Univ.)
11:40	Optimal Design of Gear Ratio for Jumping Robot with Non-circular Gear and Robustness Assessment for Parameter Error *Yushi TAKEDA (Tokyo Tech.) and Masafumi OKADA
12:00	A Cycloidal Motor Using Shape Memory Alloy Wires *Donghyun HWANG (The Univ. of Tokyo), Toshiro HIGUCHI
Luncheon (12:20-13:50)
Session 3: Measurement (13:50-14:50) Chair: Nobuyuki IWATSUKI (Tokyo Tech.)
13:50	Motion Pattern Recognition of Human Arms Motions using IMU *Takashi AOKI (Tokyo Univ. of Agri. and Tech.), Dana KULIC (Univ. of Waterloo) and Gentiane VENTURE (Tokyo Univ. of Agri. and Tech.)
14:10	Interaction Force Measurement of Arbitrary Objects Using Variable Stiffness Mechanism *Pavel ADODIN (Tokyo Tech.), Daisuke MATSUURA and Yukio TAKEDA
14:30	Frequency Response Analysis in the Non-linear Vibration System Using the High Order Spectra *Hiroyuki MATSUMOTO (Institute of Technologists) , Hisami OHISHI (Kogakuin Univ.) and Shinji YAMAKAWA
Session 4: Mobile Robots (15:10-16:10) Chair: Hisami OHISHI (Kogakuin Univ.)
15:10	Development of Mobile Robot with Elliptic Legs for Outdoor Locomotion *Katsuaki TANAKA (Graduate School, Waseda Univ.), Sei SEKI, Shinichi KINOSHITA, Hikaru SUGITA, Hiroyuki ISHII (Waseda Univ.), Yusuke SUGIHARA (Kokushikan Univ.), Satoshi OKABAYASHI (Waseda Univ.) and Atsuo TAKANISHI
15:30	Development of Biped Running Robot Utilizing Pelvic Movement – 2nd Report: Hopping Motion Using Pelvic Movement and Leg Elasticity – *Masaaki YAHARA (Graduate School, Waseda Univ.), Takuya OTANI, Kazuhiro URYU, Akihiro IIZUKA, Tatsuhiro KISHI, Nobutsuna ENDO, Kenji HASHIMOTO, Masanori SAKAGUCHI (Waseda Univ.), Yasuo KAWAKAMI, Hun-ok LIM (Kanagawa Univ.), Atsuo TAKANISHI (Waseda Univ.)
15:50	Research of Swarm Robot – Swarm Control by Function of Omni-directional Movement – *Yuta SHIMIZU (Kogakuin Univ.), Hideaki TAKANOBU, Kenji SUZUKI, Hirofumi MIURA and Yoshinobu INADA (Tokai Univ.)
16:10	Closing Address by Nobuyuki IWATSUKI, Vice President, Jc-IFToMM (Tokyo Tech)
16:30	2013 Annual Meeting of Jc-IFToMM Address from President by Haruo HOUJOH (Tokyo Tech.) Moderator Yukio TAKEDA (Tokyo Tech.)
17:40	Technical Networking Event Fee: 5,000JPY (students won’t be charged) Venue: Room 305, 3rd Floor, Ishikawadai 3 Bldg., Tokyo Institute of Technology

The 18th Symposium on Theory of Machines and Mechanisms

Date: May 12 (Sat), 2012

Registration fee: Free

Program (PDF version)

10:20	Symposium site opens
10:45	Opening Address by Haruo HOUJOH, President of Jc-IFToMM (Tokyo Tech.)
Session 1: Mechanism and Kinematics (10:50-11:50) Chair: Nobuyuki IWATSUKI (Tokyo Tech.)
10:50	Development of a Complex Three Dimensional Pipe Bender Using 3-RPSR Parallel Mechanism – Manufacturing of Helix Pipes – Satoshi INADA (Tokyo Tech.), Yukio TAKEDA, Daisuke MATSUURA, *Shohei KAWASUMI, Ken ICHIRYU (Kikuchi Seisakusho Co., Ltd.), Kazuya HIROSE
11:10	Development of the Flexible Ciliary Robot Using Hydrostatic Skeleton *Takuya HIGASHI (Tokyo Tech.), Hitoshi KIMURA, Norio INOU
11:30	The effectiveness of the higher order spectra in the non-linear vibration system *Hiroyuki MATSUMOTO (Institute of Technologists), Koji TAKEUCHI (Kogakuin Univ.), Hisanori OISHI, Shinji YAMAKAWA
Lunch Break (11:50-13:20)
Session 2: Understanding of creatures and its application (13:20-14:40) Chair: Masafumi OKADA (Tokyo Tech.)
13:20	Study on Robot That Can Grow Like Humans – Reappearance of Human Grows up Height, Weight, and Walking – *Keisuke SUZUKI (Kogakuin Univ.), Hideaki TAKANOBU, Kenji SUZUKI, Hirofumi MIURA
13:40	Quadruped Robot Mechanism by the Mechanical Function of Vertebrate Muscular Arrangement *Yuki WASHIDUKA (Toyama Prefectural Univ.), Toru OSHIMA, Ken’ichi KOYANAGI, Tatsuro MOTOYOSHI
14:00	Active Joint Visco-elasticity Estimation of the Human Knee Using FES *Seiya SAKAGUCHI (Tokyo Univ. of Agriculture and Technology), Gentiane VENTURE, Mitsuhiro HAYASHIBE (INRIA), Christine AZEVEDO
14:20	Gait Analysis for Robot Foot Development *Yusuke OGAWA (Tokyo Univ. of Agriculture and Technology), Gentiane VENTURE
Special Lecture
15:00	The Great East Japan Earthquake and Robots – What the robots should be – Lecturer: Professor Shigeo Hirose (Tokyo Tech.)
Session 3: Medical and bioengineering apparatus (16:10-17:20) Chair: Gentiane VENTURE (Tokyo Univ. of Agriculture and Technology)
16:10	Noncontact Micro Prove Manipulation System Having 3D Magnetic Tweezer and 3-DOF Flexure Stage *Daisuke MATSUURA (Tokyo Tech.), Zhipeng ZHANG (GE Global Research Center), Chia-Hsian MENQ (The Ohio State Univ.)
16:30	Space Securing in Minimally Invasive Surgery – Development of Master System Considering Maneuverability – *Shingo IZUMI (Kogakuin Univ.), Hideaki TAKANOBU, Kenji SUZUKI, Hirofumi MIURA, Masakatsu FUJIE (Waseda Univ.), Hiroshi ISEKI (Tokyo Women’s Medical Univ.)
16:50	Motion Instruction and Evaluation for Chest Compression using Enhanced Motion *Shun KAYASHIMA (Tokyo Tech), Masafumi OKADA
17:10	Closing Address by Yoshihiko NAKAMURA, President of IFToMM (Univ. of Tokyo)
2012 Annual Meeting of Jc-IFToMM Address from President by Haruo HOUJOH (Tokyo Tech.) Moderator Yukio TAKEDA (Tokyo Tech.)
18:30	Technical Networking Event Fee: 5,000JPY (students won’t be charged) Venue: Room 305, 3rd Floor, Ishikawadai 3 Bldg., Tokyo Institute of Technology

The 17th Symposium on Theory of Machines and Mechanisms

Date: July 16, 2011

Registration fee: Free

Program (PDF version)

9:20	Symposium site opens
9:55	Opening Address by Yoshihiko NAKAMURA, President, Jc-IFToMM (Univ. of Tokyo)
Session 1: Measurement of Human Motion and Forces (10:00-11:00) Chair: Ko YAMAMOTO (Tokyo Tech.)
10:00	Markerless Motion Capture Sensor Fusion *Kota ENOMOTO (Tokyo Univ. of Agriculture and Technology) and Venture GENTIANE
10:20	Recovery of 3 Dimensional Motion from 2 Dimensional Images by Using Human Behavior Database *Wataru TAKANO (Univ. of Tokyo), Junichi ISHIKAWA and Yoshihiko NAKAMURA
10:40	An External Force Calculation at the Plural Contact Point from Dynamics Identification *Yuta KAWASHIMA (Tokyo Univ. of Agriculture and Technology Kyoto Univ.), Venture GENTIANE and KAWASHIMA (National Rehabilitation Center)
Session 2: Development of Motion Mechanisms (11:20-12:20) Chair: Masafumi OKADA (Tokyo Tech.)
11:20	Mock-up Designs of a Toy with Transformable Mechanism *Moritaka TANIGUCHI (Institute of Technologists), Hiroyuki MATSUMOTO and Hisami OHISHI (Kogakuin Univ.)
11:40	Development of Leg by Introducing Link Mechanism with Variable Reduction Ratio into Knee Joint *Shunpei NOZAWA (Univ. of Electro-Communications), Akira MARUYAMA, Aigou MING and Makoto SHIMOJO
12:00	Development of a Large Workspace Parallel Robot with Flexure Joints *Keiji YONEMOTO (Tokyo Tech.), Zheng TONG, Masaru HIGUCHI (Nippon Inst. Tech.) and Yukio TAKEDA (Tokyo Tech.)
Luncheon (12:20-13:50)
Session 3: Vibration and Mechanical Elements (13:50-14:50) Chair: Nobuyuki IWATSUKI (Tokyo Tech.)
13:50	Experimental Analysis of Nonlinear Vibration System by Higher Order Spectra *Hiroyuki MATSUMOTO (Institute of Technologists), Hisami OISHI (Kogakuin Univ.), Shinji YAMAKAWA, Tatsurou SHIBAZAKI and Hiroki MURAOKA
14:10	Prediction of Static and Dynamic Performance and Thermohydrodynamic Analysis of Gas Foil Bearings *Kai FENG (Tokyo Tech.), Shigehiko KANEKO (Univ. of Tokyo), Shigeki MATSUMURA (Tokyo Tech.) and Haruo HOUJOH
14:30	Research on Driver System Applying Bourdon Tube Actuator (BTA) *Kengo OHNISHI (Tokyo Denki Univ.), Toru OSHIMA (Toyama Prefectural Univ.), Takanori HIGASHIHARA (Takamatsu Prosthetic & Orthotic MFG Ltd.) and Yukio SAITO (Tokyo Denki Univ.)
Session 4: Actuators (15:10-16:10) Chair: Yoshihiko NAKAMURA (Univ. of Tokyo)
15:10	Development of Underwarter Soft Robot Mimicking the Motion of Manta’s Fin *Takuma OSAKA (Univ. of Electro-Communications), Jun SHINTAKE, Aigou MING and Makoto SHIMOJO
15:30	Development of a Rotary Transformer for Driving Electrostatic Motors *Fumiaki KANAYAMA (Univ. of Tokyo), Takuya HOSOBATA, Akio YAMAMOTO and Toshiro HIGUCHI
15:50	Back Drivable Actuator with Hydraulic Skeleton *Hitoshi KIMURA (Tokyo Tech.), Takuya MATSUZAKI, Mokutaro KATAOKA and Norio INOU
16:10	Closing Address by Haruo HOUJOH, Vice President, Jc-IFToMM (Tokyo Tech.)
Annual Meeting 2010
17:40	Wine party at Room 305, 3rd Floor, Ishikawadai 3 Bldg. The fee is 5,000 Jpn yen and free for students.

The 16th Symposium on Theory of Machines and Mechanisms

Date: November 6, 2010

Registration fee: Free

Program (PDF version)

10:00	Symposium site opens
10:40	Opening Address by Yoshihiko NAKAMURA, President, Jc-IFToMM (Univ. of Tokyo)
Session 1: Transmission Devices and Reducers and Their Vibration (10:45-11:45) Chair: Nobuyuki IWATSUKI (Tokyo Tech.)
10:45	Centrifugal Pendulum Vibration Absorber for Gear System Free from Alignment Error in Tuning Operation *Shigeki MATSUMURA (Tokyo Tech.) and Haruo HOUJOH
11:05	Mapping of Nonlinear Vibration System by Higher Order Spectra *Hiroyuki MATSUMOTO (Institute of Technologists), Hisami OHISHI (Kogakuin Univ.) and Shinji YAMAKAWA
11:25	Research on Ratio Variable System for Transportation Device *Masaharu KOMORI (Kyoto Univ.), Jungchul KANG, Fumi TAKEOKA and Yukihiko KIMURA
Luncheon (11:45-13:00)
Keynote Speech (13:00-13:50)	Speech Title: The Technological Innovation of Welfare Devices and Near Future Prosthetic and Orthotic Limb Speaker: Dr. Yukio SAITO (Vice President of Jc-IFToMM) Chair: Haruo HOUJOH (Tokyo Tech.)
Session 2: Robotic Mechanisms (14:00-14:40) Chair: Yoshihiko NAKAMURA (Univ. of Tokyo)
14:00	Kinematic Synthesis of a Two-DOF Rotational Parallel Mechanism with Functions for Detection and Compensation of Position Error of the Rotation Center of the Output Link *Jun OKAMURA (Graduate Student, Tokyo Tech.), Shuta HANAGASAKI (JGC Corp.) and Yukio TAKEDA (Tokyo Tech.)
14:20	Dental Patient Robot – Reproduction of Whole-body Motion and Legs – *Norio OKUBO (Kogakuin Univ.), Hideaki TAKANOBU, Kenji SUZUKI, Hirofumi MIURA, Takashi ISHIGURO, Kotaro MAKI (Showa Univ.), Yoshikazu MIYAZAKI, Mutsumi MADOKORO, Takeshi TANZAWA, Kenichi MIYAMOTO (Tmsuk Co., Ltd.), Koichi TAKATSUJI, Yusuke ISHII, AkihisaOKINO (Okino Industries Ltd.) and Atsuo TAKANISHI (Waseda Univ.)
Session 3: Motion and Control of Human (15:00-16:00) Chair: Norio INOU (Tokyo Tech.)
15:00	Infromation Structure Design of a Large Scale Motion Database through Stochastic Modeling of Human Behaviors *Wataru TAKANO (Univ. of Tokyo), Hirotaka IMAGAWA and Yoshihiko NAKAMURA
15:20	Pedestrian Control Based on Temporal/Spatial Frequency of Crossing Swarm Flows *Ko YAMAMOTO (Tokyo Tech.) and Masafumi OKADA
15:40	Assist Control of Wearable Robot with Hydrostatic Actuator without Utilizing Direct Exerted Force Measurement *Hiroshi KAMINAGA (Univ. of Tokyo), Hirokazu TANAKA and Yoshihiko NAKAMURA
Session 4: Robot Control (16:20-17:00) Chair: Masato YASHIMA (National Defense Academy)
16:20	Dynamical Analogy for Robot Motion Generation *Tetsuro MIYAZAKI (Graduate School, Tokyo Tech.) and Masafumi OKADA (Tokyo Tech.)
16:40	Research of Swarm Intelligent Robot – Enhancing of Swarm Action by Airship Robot and Mobile Robots – *Masumi IIDA (Kogakuin Univ.), Hideaki TAKANOBU, Kenji SUZUKI, Hirofumi MIURA, Masanao FUTAKAMI, Tomohiro ENDO and Yoshinobu INADA (Tokai Univ.)
17:00	Closing Address by Haruo HOUJOH, Vice President, Jc-IFToMM (Tokyo Tech.)
Annual Meeting 2010 Address from president: Yoshihiko NAKAMURA(Univ. of Tokyo) Chair : Nobuyuki IWATSUKI (Tokyo Tech.)
17:50	Wine party at Room 305, 3rd Floor, Ishikawadai 3 Bldg. The fee is 5,000 Jpn yen and free for students.

The 15th Symposium on Theory of Machines and Mechanisms

Date: July 11, 2009

Registration fee: Free

Program (PDF version)

12:30	Symposium site opens
13:05	Opening Address by Yoshihiko NAKAMURA, President, Jc-IFToMM (Univ. of Tokyo)
Session 1: Robotics (13:10-14:10) Chair: Masafumi OKADA (Tokyo Tech.)
13:10	Development of 3-URU Pure Rotational Parallel Mechanism with Error Compensation Devices *Soichiro MATSUDA (Graduate Student, Tokyo Tech), Yukio TAKEDA (Tokyo Tech) and Masaru HIGUCHI
13:30	Study on Designing a Biped Robot with Bi-articular Muscle Type Bi-lateral Servo System *Kotaro FUJIMOTO (Graduate Student, Tokyo Denki Univ.) , Yukio SAITO (Tokyo Denki Univ.) and Atsushi UMEMURA
13:50	Switching Control and Quick Stepping Motion for Falling Avoidance of Humanoid Robot *Kou YAMAMOTO (Graduate Student, Univ. of Tokyo) and Yoshihiko NAKAMURA (Univ. of Tokyo)
Session 2: Dynamics and Accuracy (14:30-15:50) Chair: Nobuyuki IWATSUKI (Tokyo Tech.)
14:30	Analysis of Nonlinear Vibration System by Higher Oder Spectra *Hiroyuki MATSUMOTO (Institute of Technologists), Yuuto ONODERA (MAKITA Corp.), Hisami OHISHI (Kogakuin Univ.) and Shinji YAMAKAWA
14:50	Design of Leg Mechanism for Impact Absorption Based on Kineto-static Mechanical Synthesis of Closed Kinematic Chain *Jun TAKEISHI (Graduate Student, Tokyo Tech) and Masafumi OKADA (Tokyo Tech)
15:10	Friction Control Based on Ultrasonic Oscillation for Rolling-element Linear-motion Guide (4th Report) *Takaaki OIWA (Shizuoka Univ.) and Aizat
15:30	Evaluation Method of Gear Measuring Instrument Using Wedge Artifact *Masaharu KOMORI (Kyoto Univ.), Fumi TAKEOKA, Kazuhiko OKAMOTO, Aizoh KUBO, Sonko OSAWA (AIST) Osamu SATO and Toshiyuki TAKATSUJI
Session 3: Application of Robots (16:10-17:10) Chair: Yukio TAKEDA (Tokyo Tech.)
16:10	Motion Control of an In-pipe Mobile Robot Based on Position Estimation by Only Posture Sensing Savaruj NARAMONTHON (Nissan Motor) and *Nobuyuki IWATSUKI (Tokyo Tech.)
16:30	Space Securing in Minimally Invasive Brain Surgery – Development of Master System Considering Maneuverability – *Yosuke AKABANE (Kogakuin Univ.) , Hideki TAKANOBU, Kenji SUZUKI, Hirofumi MIURA, Shuta MATSUMURA, Haruka KAWAMITSU, Jun OKAMOTO (Waseda Univ.), Masakatsu G. FUJIE and Hiroshi ISEKI (Women’s Medical Univ.)
16:50	Development of the Anthropomorphic Saxophonist Robot WAS-2 – Improvement of the Lip’s Mechanisms and Mechanism Designing of an Anthropomorphic Hand ? *Shimpei ISHIKAWA (Graduate Student, Waseda Univ.), Tetsuro YAMAMOTO, Masaaki TAKEUCHI, Petersen KLAUS, Solis JORGE (Waseda Univ.) and Atsuo TAKANISHI
17:10	Closing Address by Haruo HOUJOH, Vice President, Jc-IFToMM(Tokyo Tech.)
17:20	Annual Meeting 2009 Address from president: Yoshihiko NAKAMURA(Univ. of Tokyo) Chair : Nobuyuki IWATSUKI (Tokyo Tech.)
18:10	Wine party at Room 305, 3rd Floor, Ishikawadai 3 Bldg. The fee is 5,000 Jpn yen and free for students.

The 14th Symposium on Theory of Machines and Mechanisms

Date: July 12, 2008

Registration fee: Free

Program (PDF version)

8:30	Symposium site opens
8:55	Opening Address by Yoshihiko NAKAMURA, President, Jc-IFToMM (Univ. of Tokyo)
Session 1: Parallel Mechanism (9:00-10:00) Chair: Norio INOU (Tokyo Tech.)
9:00	Arm Trajectory Planning by Controlling Direction of End-point Position Error *Tasuku YAMAWAKI (National Defense Academy) and Masahito YASHIMA
9:20	Control of Dynamic Manipulation by Iteration Optimization Learning *Hideyuki MIYASHITA (National Defense Academy), Tasuku YAMAWAKI and Masahito YASHIMA
9:40	Algorithm for Passing through the Wrist Singular Point Keeping the Position of the Hand Byung-Joo LEE (KAIST), Makoto WAKASA (Graduate Student, Univ. of Tokyo) and Koichi SUGIMOTO (Tokyo Tech.)
Session 2: Medical and Welfare Devices (10:10-11:10) Chair: Yoshihiko NAKAMURA (Univ. of Tokyo)
10:10	Research on Rehabilitation Hand with Bilateral Servosystem *Tadashi YOSHIMURA (Graduate Student, Tokyo Denki Univ.), Yukio SAITO (Tokyo Denki Univ.), Atsushi UMEMURA and Takanori HIGASHIHARA (Takamatsu Orthotic Device Production Co.)
10:30	Dental Patient Robot – Operation of Arm in Treatment – *Takashi ISHIGURO (Kogakuin Univ.), Hideaki TAKANOBU, Kenji SUZUKI, Hirofumi MIURA, Akito OMATA, Fumihito TAKAHASHI, Mutsumi MADOKORO (Showa Univ.), Takeshi TANZAWA, Yoshikazu MIYAZAKI, Kotaro MAKI, Akihisa OKINO (Okino Industry Ltd.) and Atsuo TAKANISHI (Waseda Univ.)
10:50	Drive Mechanisms of Single-Trocar Assemblable Retractor-Hand *Mikio OSAKI (Graduate Student, Tokyo Tech.), Toru OMATA (Tokyo Tech.), Toshio TAKAYAMA, Toshiki OHYA (Tokyo Medical and Dental Univ.), Kazuyuki KOJIMA, Kozo TAKASE and Naofumi TANAKA
Session 3: Transforming and Evolving Robots (11:20-12:20) Chair: Masahito YASHIMA (National Defense Academy)
11:20	Research of Swarm Robot – Development of Accumulative Movement Mechanism – *Masanao FUTAKAMI (Graduate Student, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Yoshinobu INADA (JAXA), Hiroaki TOKITA (Kogakuin Univ.), Kenji SUZUKI and Hirofumi MIURA
11:40	Reconfigurable Modular Robot Adaptively Transforming a Mechanical Structure – Numerical Expression of Control Algorithm and Motion Experiment – *Yosuke SUZUKI (Graduate Student, Tokyo Tech.), Norio INOU (Tokyo Tech.), Hitoshi KIMURA and Michihiko KOSEKI
12:00	Study on Robots that can Grow Like Humans *Hidenori IMAI (Graduate Student, Kogakuin Univ.), Hideaki TAKANOBU (Kogakuin Univ.), Keishi YOKOTA, Kenji SUZUKI and Hirfumi MIURA
12:20 – 13:20 Luncheon
Keynote Speech: (13:20-14:00)
Speaker	Prof. Toshiro HIGUCHI Department of Precision Engineering, The University of Tokyo 2007 IFToMM Award of Merit
Speech Title	Trend of New Actuator Research and Development
Chair	Nobuyuki IWATSUKI (Tokyo Tech.)
Session 4: Robot Mechanismst (14:10-15:10) Chair: Yukio SAITO (Tokyo Denki Univ.)
14:10	Development of the Crawler Unit to Realize Sideway Motion with Circular Cross Section *Kenjiro TADAKUMA (Univ. of Electro-Communications), Riichiro TADAKUMA (AIST), Hiroaki KINOSHITA (Tohoku Univ.), Keiji NAGATANI, Kazuya YOSHIDA and Karl IAGNEMMA (MIT)
14:30	Actuator Reduction for Light-weighted Humanoid Robot Design *Yosuke SHIMIZU (Graduate Student, Tokyo Tech.), Kenjiro MORITA and Masafumi OKADA (Tokyo Tech.)
14:50	Optimal Kinematic Calibration of Robots Based on the Maximum Positioning-error Estimation Jyunichi IMOTO (Graduate Student, Tokyo Tech.), * Yukio TAKEDA (Tokyo Tech.), Hidenobu SAITO (Kikuchi Seisakusho Co. Ltd.) and Ken ICHIRYU
Session 5: Micromechanics and Micromechanism (15:20-16:00) Chair: Kohei SAIKI (Fuji Heavy Industries Ltd.)
15:20	Integration of Micro Artificial Muscle Cells Using Electro-conjugate Fluid *Fumiya YAJIMA (Graduate Student, Tokyo Tech.), Shinichi YOKOTA (Tokyo Tech.), Kenjiro TAKEMURA (Keio Univ.) and Kazuya EDAMURA (New Technology Management)
15:40	Study on Cutting Droplets Using Surface Tension of Liquid Droplets *Tatsuya MURAYAMA (Graduate Student, Kogakuin Univ.), Kenji SUZUKI (Kogakuin Univ.), Hideaki TAKANOBU, Hirofumi MIURA
Session 6: Dynamics (16:10-17:10) Chair: Haruo HOUJOH (Tokyo Tech.)
16:10	Experimental Verification of Blade-shaft Coupled Resonance Vibration *Norihisa ANEGAWA (National Defense Academy), Hiroyuki FUJIWARA and Osami MATSUSHITA
16:30	Evaluation of Damping Ratio of Oil Film Bearing with Dynamic Damper *Hiroyuki FUJIWARA (National Defense Academy), Hiroto OYAMA and Osami MATSUSHITA
16:50	Friction Control Based on Ultrasonic Oscillation for Rolling-element Linear-motion Guide (2nd Report) *Takaaki OIWA (Shizuok Univ.) and Hikaru TAJIMA
Session 7: Gearing (17:20-18:20) Chair: Takaaki OIWA (Shizuok Univ.)
17:20	Nano-precision Pitch Master Gauge Using Self-alignment of Simple-form Element Parts *Masaharu KOMORI (Kyoto Univ.), Sonko OSAWA (AIST), Osamu SATO, Fumi TAKEOKA (Kyoto Univ.), Takashi KITEN, Daisuke SHIRASAKI and Yohan KONDO (Tokyo Tech.)
17:40	Real TCA System of Measured Tooth Flank for Automotive Hypoid Gears Keiichiro TOBISAWA (Fuji Heavy Industries Ltd.), Masaki KANO and *Kohei SAIKI
18:00	Applying Centrifugal Pendulum Vibration Absorber Isochronous even under Large Amplitude Condition to Gear System *Shigeki MATSUMURA (Tokyo Tech.) and Haruo HOUJOH
18:20	Closing Address by Haruo HOUJOH, Vice President, Jc-IFToMM(Tokyo Tech.)
Annual Meeting 2008 Address from president: Yoshihiko NAKAMURA(Univ. of Tokyo) Chair : Nobuyuki IWATSUKI (Tokyo Tech.)
19:20	Wine party at Room 305, 3rd Floor, Ishikawadai 3 Bldg. The fee is 5,000 Jpn yen and free for students.

The 13th Symposium on Theory of Machines and Mechanisms

Date: July 12, 2007

Registration free: Free

Program (PDF version)

8:10	Symposium site opens
8:25	Opening Address by Yoshihiko NAKAMURA, President, Jc-IFToMM (Univ. of Tokyo)
Session1: Parallel Mechanism (8:30-9:50) Chair: Yoshihiko NAKAMURA (Univ. of Tokyo)
8:30	Performance Evaluation of Kinematic and Static Characteristics and Optimal Design of 3-URU-type Pure Rotational Parallel Mechanism *Shuta HANAGASAKI (Tokyo Tech.), Yukio TAKEDA and Syamsul HUDA
8:50	Optimal Design of a 3-5R Translational Spatial Parallel Mechanism with Utility Workspace *Masataka TANABE (Tokyo Tech.), Yukio TAKEDA and Syamsul HUDA
9:10	Sensitivity Analysis of a 3-5R Type Pure Rotational Parallel Mechanism with Respect to Joint Axes Error *Syamsul HUDA (Tokyo Tech.) and Yukio TAKEDA
9:30	Optimization Design and Evaluation of a Stewart Platform Type Leg Mechanism for Biped Walking Vehicle *Kenji HASHIMOTO (Graduate School, Waseda Univ.), Yusuke SUGAWARA (Advanced Research Institute for Science and Engineering, Waseda Univ.), Kentaro HATTORI (Graduate School, Waseda Univ.), Akihiro HAYASHI and Atsuo TAKANISHI (Waseda Univ.)
Session2: Dynamics (10:00-11:00) Chair: Koji KIMURA (Tokyo Tech.)
10:00	Nonlinear Analysis by Higher Order Spectra – Magnetic Model – *Hiroyuki MATSUMOTO(Institute of Technologists), Yuta ONODERA (Makita Corporation), Hisami OHISHI(Kogakuin Univ.) and Shinji YAMAKAWA
10:20	A Method to Evaluate the Modal Damping Ratio by Using the Modal Open Loop Transfer Function *Hiroto OYAMA (National Defense Academy), Norihisa ANENAGA, Hiroyuki FUJIWARA and Osami MATSUSHITA
10:40	Dynamic Characteristics of Floating Object Measured by a Magnetic Suspension and Balance System – Rectangular Solid and Flexible Models – * Hiroyuki FUJIWARA(National Defense Academy) and Osami MATSUSHITA
Session3: Kinematic and Dynamic Analyses of Mechanisms (11:10-12:10) Chair: Koichi SUGIMOTO (Tokyo Tech.)
11:10	Rotational Angle Errors of the Tripod, Rzeppa CVJ Line and Three Dimensional Motion of the Drive Shaft Katsumi WATANABE (Yamagata Univ.), *orikatsu KUDOH (Graduate School, Yamagata Univ.) and Katsuhiko MURAKAMI (Fanuc Ltd.)
11:30	Zero Stifness Mechanism based on Mechanical Singularity and Its Application to Non-linear Passive Stiffness for Torque Transmission *Masafumi OKADA (Tokyo Tech.) and Shintaro KINO
11:50	Step Climing of In-pipe Mobile Robot with Wheel Drive MechanismUsing Planetary Gear Drive *Toyomi MIYAGAWA (Toshiba Corporation) and Nobuyuki IWATSUKI (Tokyo Tech.)
Special Lecture 1:(12:20-13:00)
Lecturer	Prof. Marco Ceccarelli IFToMM Secretary General 2004-2007, IFToMM President 2008-2011, Laboratory of Robotics and Mechatronics, University of Cassino, Italy
Lecture Title	What is old in what is new in MMS research
Chair	Yoshihiko NAKAMURA (Univ. of Tokyo)
13:00～14:20 Luncheon
Special Lecture 2: (14:20-15:00)
Lecturer	Dr. Teru HAYASHI Technical Advisor, Ogasawara Precision Laboratory Co. Ltd. Former President of Jc-IFToMM, IFToMM Honorary member Professor emeritus, Tokyo Institute of Technology
Lecture Title	History of IFToMM in Japan
Chair	Haruo HOUJOH (Tokyo Tech)
Session4: Actuation and Precision Measurement (15:10-16:10) Chair: Yukio SAITO (Tokyo Denki Univ.)
15:10	Development of Mobile Robot “MOLOOP” Using Hydrostatic Skelton Driving Mechanism *Daisuke MARUYAMA (Tokyo Tech.), Hitoshi KIMURA, Michihiko KOSEKI and Norio INOU
15:30	Fabrication of a Micro Cilium Actuator and Its Driving Experiments *Nouyuki IWATSUKI (Tokyo Tech.), Koichi MORIKAWA, Yoshito NISHIDA (Graduate School, Tokyo Tech.) and Ryota TANABE
15:50	High-Precesion Pitch Artifact to Calibrate Pitch Measureing Instruments *Masaharu KOMORI (Kyoto Univ.), Sonko OSAWA (Mationa Metrology Institute of Japan, AIST), Osamu SATO, Takashi KITEN (Kyoto Univ.), Daisuke SHIRASAKI and Toshiyuki TAKATSUJI (Mationa Metrology Institute of Japan, AIST)
Session5: Robotics (16:20-17:20) Chair: Nobuyuki IWATSUKI (Tokyo Tech.)
16:20	Improvement of the Lips and Tonguing Mechanisms of the Anthropomorphic Flutist Robot to Produce a Clear Flute Sound *Tetsuro YAMAMOTO (Graduate School, Waseda Univ.), Koichi TANIGUCHI, Takeshi NINOMIYA, Jorge SOLIS (Waseda Univ.), Kunimitsu WAKAMATSU, Akiko SATO (Tokyo Wind Symphony Orchestra) and Atsuo TAKANISHI (Waseda Univ.)
16:40	Anthropomorphic Robot Hand with Hydrostatic Actuators *Hiroshi KAMINAGA (Univ. of Tokyo), Taichi YAMAMOTO, Jyunya ONO and Yoshihiko NAKAMURA
17:00	The Actuator for Robotics with Learning Control of Antagonism Multi-motor System *Atsushi UMEMURA (Tokyo Denki Univ.), Toshimasa HANEYOSHI, Yukio SAITO and Hirokazu MINAI
Session6: Medical and Welfare Devices (17:30-18:30) Chair: Norio INOU (Tokyo Tech.)
17:30	Acquisition Position of Myoelectric Potential Influenced on a Probablity of Motion’s Estimation *Yoshio NISHIKAWA (Takushoku Univ.), Akihiro ADACHI, Satoshi MORITA, JuN KURABAYASHI (Chiba Medical Welfare College) and Yoshihito KAGAWA(Takushoku Univ.)
17:50	Study on Training System of Laparoscope Surgery and Application the Robotics of Surgery Support Robot *Toshiya SAKAI (Tokyo Denki Univ.), Yukio SAITO and Atsushi UMEMURA
18:10	Image Stabilization for Flourescent Microscopy of Live Cells of Small Animals *Sung-on LEE (Univ. of Tokyo), Yoshihiko NAKAMURA, Katsu YAMANE, Takeshi TOUJO, Seiya TAKAHASHI (OLYMPUS), Yoshihisa TANIKAWA and Hajime TAKAHASHI
18:30	Closing Address by Haruo HOUJOH, Vice President, Jc-IFToMM(Tokyo Tech.)
Annual Meeting 2007 Address from president: Yoshihiko NAKAMURA(Univ. of Tokyo) Chair : Nobuyuki IWATSUKI (Tokyo Tech.)
19:30	Wine party at Room 305, 3rd Floor, Ishikawadai 3 Bldg. The fee is 5,000 Jpn yen and free for students.

The 12th Symposium on Theory of Machines and Mechanisms

Date and Time: 8:55 – 18:00, June 30, Friday, 2006

Venue: Conference Room 304, 3rd Floor, Ishikawadai 3 Bldg., Tokyo Tech (Ohokayama Campus)
2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552
(8 min. walk from Ohokayama Station, Tokyu Meguro-line and Ohimachi-line)

Registration fee: Free

Program (PDF version)

8:40	Site opens
8:55	Opening Address by Yoshihiko NAKAMURA President, Jc-IFToMM (The University of Tokyo)
Session 1 : Analyses of Mechanisms (9:00-10:20) Chair: Haruo HOUJOH (Tokyo Tech)
9:00	Linear Motion Mechanism with Grasp Force Magnification *Takeshi TAKAKI(Graduate Student,Tokyo Tech), Toru OMATA(Tokyo Tech.)
9:20	Three Dimensional Shape Analysis for Face-Hob Cutting Hypoid Gears *Masaki KANO(Fuji Heavy Industries Ltd.), Keiichiro TOBISAWA, Kohei SAIKI, Takeshi YOKOYAMA and Akira ONO
9:40	Mechanism of the Man-Nen Dokei : A Historic Perpetual Chronometer *Yasuhiro YOKOTA(Toshiba Corp.), Mitsunobu YOSHIDA, Takahiro HATO, Yuji KUBOTA and Kazuyoshi SUZUKI(National Science Museum)
10:00	Proposing Manipulation Using Hyper-flexible Elements *Takahiro SUZUKI(Univ. of Tokyo), Yuji EBIHARA(Toyota Motor Corp.) and Takahiro SUZUKI(Mitsubishi Electrics)
Session 2 : Trajectory Generation for Robots (10:30-11:50) Chair: Norio INOU(Tokyo Tech)
10:30	Robot Motion Emergence by Orbit Attractor Design for Tapping Dance Robot Control – Application for Robot Motion with Drastic Change of Dynamic Property – *Kenji MURAKAMI(Tokyo Tech), Masafumi OKADA and Nobuyuki IWATSUKI
10:50	Legged Motion Planning of Humanoid Robots That Change Contact States Variedly under Severe Time Constraints *Kou YAMAMOTO(Univ. of Tokyo), Tomomichi SUGIHARA and Yoshihiko NAKAMURA
11:10	Resolved Motion Space Control for a Redundant Serial Manipulator *Yasuyoshi TAKI (Tokyo Tech), and Koichi SUGIMOTO
11:30	Communication Acquisition of Humanoid Robot through Interaction with Its Partner *Wataru TAKANO (Univ. of Tokyo), Katsu YAMANE and Yoshihiko NAKAMURA
Session 3 : Dynamics (12:00-13:00) Chair: Masahito YASHIMA (National Defense Academy)
12:00	Analyses of Nonlinear Vibration System by Higher Order Spectra *Hiroyuki MATSUMOTO(Institute of Technologists), Tomoyoshi OYAMA (Kehin), Hisami OHISHI(Kogakuin Univ.) and Shinji YAMAKAWA
12:20	Design of Dynamic Damper to Support Chatter in Long, Slim Cutting Tools, *Hiroyuki FUJIWARA (National Defense Academy), Osami MATSUSHITA and Takahiro TAMURA
12:40	Linear Rectangular Air Bearing Based on Squeeze Film Generated by Ultrasonic Oscillation *Takaaki OIWA (Shizuoka Univ.) and Ryosuke SUZUKI
13:00-14:20 Luncheon
Special Lecture: (14:20-15:00)
Lecturer	Prof. Katsuo KURABAYASHI(University of Michigan)
Lecture Title	Biomolecular Motor Nano/Micro Hybrid Devices for Power Extraction and Biosensing
Abstract	Biomolecular motors are nanometer-scale molecular machines that convert chemical energy into mechanical work. They are responsible for mass transport and cell movement in biological systems. The nanotechnology research community has recently been exploring the development of new hybrid devices that incorporate biomolecular motors in a non-biological engineered structure. Manipulation of nanomechanical structures using these motors is an excellent example of utilizing life’s natural resources to power man-made systems at high fuel-to-power conversion efficiency. This talk discusses our recent research on nano/micrometer-scale force production and molecular sensing with biomolecular motors. Expected advantages and technological challenges accompanying the development of the hybrid devices are also discussed.
Chair	Nobuyuki IWATSUKI (Tokyo Tech)
Session 4 : Micromechanism and Actuators (15:10-16:10) Chair: Yukio SAITO (Tokyo Denki Univ.)
15:10	Fabricatio of Piezoelectric Thin Film on a Micro Cilium Actuator by Hydrothermal Method *Kenjiro MORITA(Graduate Student, Tokyo Tech), Nobuyuki IWATSUKI(Tokyo Tech) and Koichi MORITA
15:30	Making to Long Life of Large-Deflective Hinges of Molding Pantograph Mechanisms *Yasuyuki SAITO(Graduate Student, Tokyo Tech), Daiki KAMIYA(P & I Lab.,Tokyo Tech) and Mikio HORIE
15:50	The Development of the Electrostatic Actuator for a Micro Camera Module *Toshikatsu AKIBA(TOSHIBA), Akihiro KOGA, Mitsunobu YOSHIDA and Sunsuke HATTORI
Session 5 : Biomechanics and Development of Welfare Devices (16:20-18:00) Chair: Koichi SUGIMOTO (Tokyo Tech)
16:20	Biomechanics of Free Climbing – Mathmatical Modeling of Climbing Posture – *Yoshihiko OTAKI(Tokyo Tech), Michihiko KOSEKI, Hitoshi KIMURA and Norio INOU
16:40	Passive Stiffness Estimation of Human Joints and its Medical Applications Based on Musculoskeletal Dynamics Model and Motion-Capturing Gentiane VENTURE(Univ. of Tokyo), Yoshihiko NAKAMURA and Katsu YAMANE
17:00	Study of Rehabilitation Arm and Lower Limbs Powered Orthosis *Shunn HACHIMURA(Tokyo Denki Univ.), Thomas MAIRE(ENSMM), Yukio SAITO (Tokyo Denki Univ.), Kisumasa HANE and Hiroshi NEGOTO
17:20	Development of Tactile GUI Device for Blind Computer User – Development of the Third Trial Device – *Shigenobu SHIMADA(TIRI), Shun NAGASAWA(UEC), Masami SHINOHARA(AIST), Yutaka SHIMIZU(UEC), Makoto SHIMOJO
17:40	Study on the Basic Experiment of Bilateral Servo and the Application to a Power Window *Shingo KOIZUMI(Tokyo Denki Univ.), Yukio SAITO, Takamitsu TAJIMA(Honda R&R) and Tsukasa OKAWA
18:00	Closing Address by Haruo HOUJOH Vice President, Jc-IFToMM(Tokyo Tech)
Annual Meeting 2006 (18:05-18:40) Address from president: Yoshihiko NAKAMURA(Univ. of Tokyo) Chair : Nobuyuki IWATSUKI (Tokyo Tech)
19:00	Wine party at Seminar Room 655, 6th Floor, Ishikawadai 1 Bldg. The fee is 5,000 Jpn yen and free for students.

The 11th Symposium on Theory of Machines and Mechanisms

Date: June 17, 2005

Venue: Conference Room 304, Ishikawadai 3 Bldg., Tokyo Instiotute of Technology

Registration fee: Free

Program (PDF version)

8:40 Site opens 8:55 Opening Address by Hirofumi MIURA President, Jc-IFToMM (Kogakuin Univ.)
Session 1 : Dynamics (9:00-10:00) Chair: Koji KIMURA(Tokyo Tech)
9:00	Mapping of Nonlinear Vibration System by Higher Order Spectra *Hiroyuki MATSUMOTO(Institute of Technologists), Hisami OHISHI(Kogakuin Univ.) and Shinji YAMAKAWA(Kogakuin Univ.)
9:20	A Q-value Measurement based on the Open-loop Transfer Functions for Damping Evaluation of AMB Rotor *Hiroyuki FUJIWARA(NDA), Makoto ITO(Graduate School, NDA), Kazuki IKENAGA(Graduate School, NDA) and Osami MATSUSHITA(NDA)
9:40	A Q-value Measurement for Damping Evaluation and Rotational Test of Over-Hung Rotor System Supported by AMBs *Makoto ITO(Graduate School, NDA), Hiroyuki FUJIWARA(NDA) and Osami MATSUSHITA(NDA)
Session 2 : Simulations (10:10-11:10) Chair: Masafumi OKADA(Tokyo Tech)
10:10	Spinal Information Processing Method and Its Application to Motor Learning Support System *Mihoko OTAKE(Univ. of Tokyo, JST) and Yoshihiko NAKAMURA(Univ. of Tokyo)
10:30	Control Software Simulator for Mechatronics Systems *Shoichi MOTOHASHI(InterDesign Technologies), Mitsunobu YOSHIDA(Toshiba) and Hiroshi SAKAI(Toshiba Social Automation Systems)
10:50	Reciprocal Spaces and Dual Spaces for the Analysis of Parallel Mechanisms *Koichi SUGIMOTO(Tokyo Tech), Hadi Tavakoli Nia(Sharif University of Technology) and Atsuko ENOMOTO(Hitachi)
Session 3 : Analysis of Mechanisms (11:20-12:20) Chair: Takaaki OIWA (Shizuoka Univ.)
11:20	Analyses of Three Dimensional Motion of the Drive Shaft of the Tripod, Rzeppa CVJ Line *Takashi MATSUURA(Graduate School, Yamagata Univ.), Katsumi WATANABE(Yamagata Univ.) and Katsuhiko MURAKAMI(Graduate School, Yamagata Univ.)
11:40	A Vehicle that Moves to All Directions on One Spherical Rubber Tires *Tatsuro ENDO(Graduate School, Univ. of Tokyo) and Yoshihiko NAKAMURA(Univ. of Tokyo)
12:10	The Metering Pump Flow Control by Hydraulic Lost Motion Mechanism Yoshiaki KONISHI(NIKKISO) and *Ryo NAITO(Graduate School, Nagaoka Univ. of Technology)
12:20	Luncheon
Session 4 : Measurement and Sensing (13:50-15:10) Chair: Koichi SUGIMOTO(Tokyo Tech)
13:50	Miniaturized Three-dimensional Touch Probe System Based on Fiber Optic Displacement Sensors – Prototype of Miniaturized Probe *Takaaki OIWA(Shizuoka Univ.) and Toshio TANAKA(Shizuoka Univ.)
14:10	Measurement of Young’s Modulus of Thin Film by Resonant Method *Yoshiaki FUJIGAKI(Graduate School, Kogakuin Univ.), Kenji SUZUKI(Kogakuin Univ.), Hirofumi MIURA(Kogakuin Univ.) and Hideaki TAKANOBU(Kogakuin Univ.)
14:30	ZMP Detection of a Biped Robot by Tactile Sensor for Measuring the Center Position of a Two Dimensional Distributed Load *Takuma ARAKI(Graduate School, Univ. of Electro-Communications), Yuki TANIYASU(Graduate School, Univ. of Electro-Communications) and Makoto SHIMOJO(Univ. of Electro-Communications)
14:50	Dynamic Characteristics of Floating Object Measured by a Magnetic Suspension and Balance System – Added Mass of Spherical and Ellipsoid Models – * Hiroyuki FUJIWARA(NDA) , Masahiro KOBAYASHI(NDA) and Osami MATSUSHITA(NDA)
15:10	Break
Session 5 : Design of Mechanisms (15:30-16:50) Chair: Norio INOU(Tokyo Tech)
15:30	100g-100N Robot Finger with Load-Sensitive Continuously Variable Transmission *Takeshi TAKAGI (Graduate School, Tokyo Tech) and Toru OMATA(Tokyo Tech)
15:50	Development of a Mechanical Prosthetic Knee Joint Which Responds on Different Walking Speeds *Keiichi TSUKISHIRO(Otto Bock Japan)
16:10	Experimental Study on the Gear Noise Behavior of Helical Gearing System *Takeshi WATANABE(Fuji Heavy Industries), Yoshikazu MIYOSHI(Fuji Heavy Industries) and Kohei SAIKI(Fuji Heavy Industries)
16:30	Design of Shaft Drive CVT for Improvement of Efficiency and Torque Capacity *Yukihito NARITA(Graduate School, Tohoku Univ.), Masashi YAMANAKA(Tohoku Univ.) and Katsumi INOUE(Tohoku Univ.)
Session 6 : Motion Control of Robots (17:00-18:00) Chair: Masato YASHIMA(NDA)
17:00	Motion Control of Hyper Redundant Robots by Use of Learning Control Based on Linear Combination of Error History *Daisuke MATSUURA (Graduate School, Tokyo Tech), Nobuyuki IWATSUKI(Tokyo Tech) and Masafumi OKADA(Tokyo Tech)
17:20	Motion Control of a Casting Manipulator with a Large Working Space (High-Speed Casting Experiment and Its Analysis) Shinsuke IZUMI(Graduate School, Tokyo Tech), *Yokio TAKEDA(Tokyo Tech) and Masaru HIGUCHI(Tokyo Tech)
17:40	Transformable Robotic System Adapting to Mechanical Environment *Yosuke SUZUKI (Graduate School, Tokyo Tech), Hitoshi KIMURA(Tokyo Tech), Michihiko KOSEKI(Tokyo Tech) and Norio INOU(Tokyo Tech)
18:00	Closing Address by Haruo HOUJOH Vice President, Jc-IFToMM(Tokyo Tech)
Annual Meeting 2005 (18:05-18:40) Address from president : Hirofumi MIURA (Kogakuin Univ.) Chair : Nobuyuki IWATSUKI (Tokyo Tech)
19:00	Wine party at Seminar Room 655, 6th Floor, Ishikawadai 1 Bldg. **The fee is 5,000 Jpn yen and free for students.

The 10th Symposium on Theory of Machines and Mechanisms

Date: June 25, 2004

Venue: Meeting Room 5, 11th Floor, Kogakuin University (Shinjyuku Campus)

Registration fee: Free

Program (PDF version)

9:30 Site opens 9:50 Opening Address by Hirofumi MIURA, President, Jc-IFToMM (Kogakuin University)
Session 1 : Agricultural/Medical Robots (10:00-11:00) Chair: Koichi SUGIMOTO (Tokyo Institute of Technology)
10:00	Silkworm Handling Robot Hideaki TAKANOBU(Kogakuin Univ.), *Tomonari AIZAWA(Graduate School, Kogakuin Univ.), Yasumasa WATANABE(Graduate School, Kogakuin Univ.), Hiroshi ISHIHARA(Graduate School, Kogakuin Univ.) and Masanobu OHURA(National Institute of Agrobiological Sciences)
10:20	Muscle Innervations Model of the Spinal Nervous System for Somatosensory Information Processing *Mihoo OTAKE(Univ. of Tokyo) and Yoshihiko NAKAMURA(Univ. of Tokyo)
10:40	Study on Endoscope-inserting Robot – Bilateral Servo System with Minute Pressure Control Function – *Hiroshi NEGOTO(TDU), Yukio SAITO(TDU), Shunsuke MOTOSUGI(Olympus) and Takamitsu TAJIMA(Honda R&D)
Bio/Humanoid Robots (11:10-12:10) Chair: Yukio SAITO (Tokyo Denki University)
11:10	Water Strider’s Internal Mechanism Based Robot Hideaki TAKANOBU(Kogakuin Univ.), *Keisuke KODAIRA(Graduate School, Kogakuin Univ.) and Hitomi TAKEDA(Graduate School, Kogakuin Univ.)
11:30	Research on the Cricket Based Jumping Robot Hideaki TAKANOBU(Kogakuin Univ.), *Chiharu UCHIDA(Graduate School, Kogakuin Univ.) and Kohji NOURA(Graduate School, Kogakuin Univ.)
11:50	Mobility Enhancement Control of Humanoid Robot Based on the Whole-body Cooperative Reaction Force Manipulation *Tomomichi SUGIHARA(Univ. of Tokyo) and Yoshihiko NAKAMURA(Univ. of Tokyo)
12:10	Luncheon
Special Lecture (13:30-14:30)	“Harmonic Drive Gear – Invention, Development and Current Status” Shoichi Ishikawa (Harmonic Drive Systems Co. Ltd.)
Session 3 : Vibration Analysis and Mechanism Design (14:40-16:00) Chair: Nobuyuki IWATSUKI (Tokyo Institute of Techology)
14:40	Identification of Nonlinear System by Higher Order Spectra – Discussion on Nonlinear Mappings – *Hiroyuki MATSUMOTO(Institute of Technologists), Hisami OHISHI(Kogakuin Univ.) and Shinji YAMAKAWA(Kogakuin Univ.)
15:00	Effect of Torsional Damper on Bending Vibration at Crankshaft Rear-end under Operating Condition *Takahiro YAMAUCHI(Graduate School, Tohoku Univ.), Katsumi INOUE(Tohoku Univ.) and Hisami OHISHI(Kogakuin Univ.)
15:20	Development of High Performance Transmission with Small Teeth Number Gear *Kohhei SAIKI(Fuji Heavy Industries), Yoshitomo TSUKA(Fuji Heavy Industries) and Yoshihiko TAKEUCHI(Fuji Heavy Industries)
15:40	Evaluation of Stability Margin of Active Magnetic Bearing System *Makoto ITO(Graduate School, NDA), Hiroyuki FUJIWARA(NDA) and Osami MATSUSHITA(NDA)
Kinematic Analysis of Robotic Mechanisms (16:10-17:30) Chair: Yoshihiko NAKAMURA (University of Tokyo)
16:10	The Through Motion Caracteristics of a 6-DOF Serial Manipulator at the Multiple Singular Point *Yasuyoshi TAKI(Graduate School, Tokyo Tech) and Koichi SUGIMOTO(Tokyo Tech)
16:30	Velocity and Acceleration Analyses of a Spatial Parallel Manipulator of Three R-R-S Chains Based on the Kinematic Analysis of R-S-S Chain *Ryuji HOSHINO(Graduate School, Tokyo Tech), Nobuyuki IWATSUKI(Tokyo Tech) and Kouichi MORIKAWA(Tokyo Tech)
16:50	Development of Position-Orientation Decoupled Spatial In-parallel Actuated Mechanisms with Six Degrees of Freedom *Yukio TAKEDA(Tokyo Tech), Koji KAMIYAMA(Tokyo Tech), Yoshihisa MAKI(Tokyo Tech), Masaru HIGUCHI(Tokyo Tech) and Koichi SUGIMOTO(Tokyo Tech)
17:10	On the Representations of Wrenches for the Analysis of Mechanisms Koichi Sugimoto(Tokyo Tech)
17:30	Closing Address by Yoshihiko NAKAMURA
Annual Meeting 2004 (17:40-18:10) Address from president : Hirofumi MIURA (Kogakuin University) Chair : Nobuyuki IWATSUKI (Tokyo Institute of Technology)
18:30	Wine party at Meeting Room 5, 11th Floor, Kogakuin University (Shinjuku Campus) **The fee is 5,000 Jpn yen and free for students.

The 9th Symposium on Theory of Machines and Mechanisms

Date: June 27, 2003

Venue: Meeting Room 4, 28Floor, Kogakuin University (Shinjyuku Campus)

Registration fee: Free

Program

9:30 Site opens 9:50 Opening Address by Hirofumi MIURA, President, Jc-IFToMM, (Kogakuin University)
Session 1 : Mobile Robots (10:00-11:20) Chair: Masato YASHIMA (National Defense Academy)
10:00	The Leg Mechanism of a Water Surface Running Machine *Masaru HIGUCHI: Tokyo Institute of Technology Yukio TAKEDA: Tokyo Institute of Technology Hideo TANAKA: Armonicos co., Ltd. Hiroaki FUNABASHI: Shibaura Institute of Technology
10:20	Simulation Study of Self-Excited Running of a Biped Mechanism *Kyosuke ONO: Tokyo Institute of Technology Xiaofeng YAO: Tokyo Institute of Technology
10:40	Cooperative Conveyance of an Object with Tethers by Two Mobile Robots Norio INOU: Tokyo Institute of Technology *Michihiko KOSEKI: Tokyo Institute of Technology Ryu KIKUCHI: Tokyo Institute of Technology Takafumi SUZUKI: Tokyo Institute of Technology
11:00	Group Intelligence using School of Fish based Mobile Robots *Tetsuhiro AIKO: Kogakuin University Hirokatsu GOTO: Kogakuin University Yoichi MIZUKOSHI: Kogakuin University Hideaki TAKANOBU: K0gakuin University Hirofumi MIURA: Kogakuin University
11:30	Special Lecture: Multi-robot manipulation: Force closure, form closure and object closure Prof. Dr. Vijay Kumar Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania, USA
12:10 – 13:10 Luncheon
Session 2 : Robot Control (13:10-14:30) Chair: Yukio SAITO (Tokyo Denki University)
13:10	Learning Control of Hyper Redundant Robots Based on Linear Learning Control Scheme Yoichi SHIMADA: Komatsu Ltd. *Daisuke MATSUURA: Tokyo Institute of Technology Koichi MORIKAWA: Tokyo Institute of Technology Nobuyuki IWATSUKI: Tokyo Institute of Technology
13:30	Randomized Motion Planning for Multifingered Robot Hand Masahito YASHIMA: National Defense Academy
13:50	Study of Tongue Type Robot *Tadayoshi TANDAI: KOGAKUIN University Katsuya TANAKA: KOGAKUIN University Satoshi SAITO: KOGAKUIN University Hideaki TAKANOBU: KOGAKUIN University Hirofumi MIURA: KOGAKUIN University
14:10	Study of a Master Manipulator for Brain Surgery *Hiroshi ISHIHARA: KOGAKUIN University Akihiro YAMAMOTO: KOGAKUIN University Naoyuki YOSHIZAWA: KOGAKUIN University Hideaki TAKANOBU: KOGAKUIN University Hirofumi MIURA: KOGAKUIN University Hiroshi ISEKI: Tokyo Women’s Medical University Masakatsu G. FUJIE: Waseda University Jun OKAMOTO: Waseda University
14:30 – 14:40 Break
Session 3 : Analysis and Design of Mechanical Elements (14:40-15:40) Chair: Norio INOU (Tokyo Institute of Technology)
14:40	Kinematic Analysis of an Orthogonal Axis Output Type Precession Motion Ball Reducer *Hidetsugu TERADA: University of Yamanashi
15:00	Analytical Study of Disk-Type Variable Torque Slipping Clutch with Skewed Rollers Ming FENG: Nidec Corporation *Kyosuke ONO: Tokyo Institute of Technology Kenji MIMURA: MIM Engineering Ltd.
15:20	A Digital Evaluation System of the Tooth Flank Shape for Transmission Gears *Kohei SAIKI: Fuji Heavy Industries Ltd. Yasuharu OHNISHI: Fuji Heavy Industries Ltd. Keiichi MARUYAMA: Fuji Heavy Industries Ltd.
15:40 – 15:50 Break
Session 4 : Analysis and Design of Linkage Mechanism (15:50-16:50) Chair: Hidetsugu TERADA (University of Yamanashi)
15:50	Kinematic Analysis of MacPherson Strut Mechanism *Jun NANGO: Yamagata University Hiroshi KONNO: Yamagata University
16:10	Design of Closed Kinematic Chains Considering Machining Errors and Kinematic Constraints *Akihiko MURAI: The University of Tokyo Yoshihiko NAKAMURA: The University of Tokyo
16:30	Durability of Large-Deflective Hinges in Molded Pantograph Mechanisms with Hinges and Links *Mikio HORIE: Tokyo Institute of Technology Masaru TOMIMATSU: Tokyo Institute of Technology Daiki KAMIYA: Tokyo Institute of Technology Teruya SUGIHARA: Tokyo Institute of Technology
16:50 – 17:00 Break
Session 5 : Analysis and Control of Vibration (17:00-18:00) Chair: Kyosuke ONO (Tokyo Institute of Technology)
17:00	Identification of Nonlinear Damping System by Higher Order Spectra *Hiroyuki MATSUMOTO:Institute of Technologists Shigekazu AOKI: KOGAKUIN University Hisami OISHI: KOGAKUIN University Shinji YAMAKAWA: KOGAKUIN University
17:20	Modal Control of Flexible Rotors Supported by Active Magnetic Bearings *Hiroyuki FUJIWARA: National Defense Academy Makoto ITO: National Defense Academy Naohiko TAKAHASHI: Hitachi Industries Koji EBINA: National Defense Academy Osami MATSUSHITA: National Defense Academy
17:40	Rotational Test of Flexible Rotor Supported by Active Magnetic Bearings *Makoto ITO: National Defense Academy Hiroyuki FUJIWARA: National Defense Academy Osami MATSUSHITA: National Defense Academy
18:15	Annual Meeting 2003 Address from president: Hirofumi MIURA (Kogakuin University) Chair : Nobuyuki IWATSUKI (Tokyo Institute of Technology)
18:50	Wine party at the faculty club, Kogakuin University. The fee is 5,000 Jpn yen and free for students.

Abstract of the Special Lecture

Multi-robot manipulation: Force closure, form closure and object closure
by Prof. Dr. Vijay Kumar
Department of Mechanical Engineering and Applied Mechanics
GRASP Laboratory, University of Pennsylvania

Robots have been used for manipulating objects for over four decades.
In industrial applications, special purpose end effectors are designed
depending on the object and application in question. By using multiple
robots however, it is possible to have standardized modular robots
that can be reconfigured to manipulate large or heavy objects without
using special purpose end effectors. This talk presents three
paradigms of manipulation. Force closure requires the payload forces
to be counteracted by end effector forces. Form closure is a geometric
condition that constrains the payload and its motion. Object closure
involves a combination of these two paradigms where the object is
trapped or caged by robots, while appropriate forces are applied to
transport or move it in a prescribed direction. We present the
kinematics and dynamics of these different paradigms and experimental
results that will illustrate the basic ideas.

The 9th Jc-IFToMM Symposium was successfully held on June 27, Friday, 2003 at Shinjuku Campus, Kogakuin University, Tokyo with 17 excellent oral presentations and a special lecture ‘Multi-robot manipulation: Force closure, form closure and object closure’ given by Prof. Vijay Kumar, University of Pennsylvania.
Next symposium will be held in May or June in 2003. We hope you will submit symposium papers or join the symposium.

The 8th Symposium on Theory of Machines and Mechanisms

Date: June 28, 2002

Venue: Kogakuin University (Shinjuku Campus)

Program

9:30 Site opens
9:50 Opening ceremony by Kenichi Yoshimoto, vice president, National Defense Academy.

Session 1 : Group robot and humanoid
Chair: Yukio Saito (Tokyo Denki University)

10:00	Study on Group Behavior with Intelligent Mobile Robots Yusuke MUKUNO:Kogakuin Univ., Shingo DOI:Kogakuin Univ., Hironori MIKAMI:Kogakuin Univ., Hideaki TAKANOBU:Kogakuin Univ., Hirofumi MIURA:Kogakuin Univ.
10:25	Study of Group Robots Forming a Mechanical Structure Norio INOU, Hirokazu KOBAYASHI, Michihiko KOSEKI : Tokyo Institute of Technology
10:50	Interactive Biped Locomotion Based on Visual/Auditory Information Yu OGURA:Waseda Univ., Yoshiharu KANESHIMA : IHI Co.,Ltd, Hun-ok LIM : Kanagawa Institute of Technology, Atsuo TAKANISHI : Waseda Univ.
11:15	Realization of lateral motion training with a mouth opening and closing training robot Toshihide NASU:Waseda Univ., Tohru AKIZUKI:Waseda Univ., Hiroaki TSUBOI:Waseda Univ., Atsuo TAKANISHI:Waseda Univ., Akihisa OKINO:Waseda Univ., Hideaki TAKANOBU:Kogakuin Univ., Masatoshi OHNISHI:Yamanashi Medical Univ., Kayoko OHTSUKI:Yamanashi Medical Univ.

Session 2 : Products and dynamics
Chair: Nobuyuki Iwatsuki (Toyko Institute of Technology)

11:50	Nonlinear System Identification by Higher Order Spectra Hiroyuki MATSUMOTO:Institute of Technologists, Hisami OHISHI:Kogakuin Univ., Shinji YAMAKAWA:Kogakuin Univ
12:15	Vibration analysis on V-type 10 cylinders engine with wide V-bank angle Takahiro YAMAUCHI:Graduate School of Tohoku Univ., Katsumi INOUE:Graduate School of Tohoku Univ., Hisami OHISHI:Kogakuin Univ
12:40	Challenges in the Development and Manufacture of Electric Scooter Tsuyoshi Koide:994-403 Aiko, Atsugi City, Kanagawa Pref. 243-0035, Japan tk2koide@aol.com

13:05 – 14:10 Luncheon

Session 3 : Multi DOF mechanism
Chair: Hisami Ohishi (Kogakuin University)

14:10	Singular Configuration Analysis of a Spatial Multi-loop Manipulator with Redundancy Nobuyuki Iwatsuki, Tohru Takamura, Iwao Hayashi, Kouichi Morikawa and Katsuhisa Jinbo: Graduate School, Tokyo Institute of Technology
14:35	Development of the Active Forceps using Jigsaw Block Slide Shingo CHIYODA, Masafumi OKADA, Yoshihiko Nakamura : Univ. of Tokyo
15:00	Kinematic Actuated and Experiental Analysis of Three DOF Spatial Parallel Mechanisms Having Prismatic Joints Katsumi WATANABE:Yamagata Univ., Jun NANGO:Yamagata Univ.
15:25	Motion Planning for Multifingered Robot Hand Utilizing Rolling/Sliding Contacts Masahito YASHIMA, Hideya Yamaguchi : National Defense Academy

Session 4 : Walfare devices
Chair: Norio Inou (Tokyo Institute of Technology)

16:00	Measurement of a Coax by X-ray and Evaluation of Its Shape Hiroshi NEGOTO:Tokyo Denki Univ., Yukio SAITO:Tokyo Denki Univ.
16:25	Study of Electrical Powered Prosthesis by Micro-computer Control Yukio SAITO, Hiroshi NEGOTO:Tokyo Denki Univ., Toru OHSHIMA:Toyama Prefectural Univ., Takanori HIGASHIHARA:Takamatsu Prosthesis Factory, Kengo OHNISHI:Oita Univ., Shigeru KUBO:Tokyo Senior Citizen Research and Welfare Promoting Foundation Akito UCHIDA:Ohashi Manufacturing Co.,Ltd.
16:50	Development and the prototype of the wearable heart rate counter Satoshi SAITO, Hideaki TAKANOBU, Hideki TSUBOI, Hirofumi MIURA:Kogakuin Univ., Kiyoshi NAEMURA:Tokyo Women’s Medical Univ.
17:15	Development of a Power Assisting System for a Walking Chair Masaru HIGUCHI, Yukio TAKEDA:Tokyo Institute of Technology, Takashi YAMADA:SECOM Co.,Ltd., Takahiro Matsumoto:Tokyo Institute of Technology, Hiroaki FUNABASHI:Shibaura Institute of Technology

The 7th Symposium on Theory of Machines and Mechanisms

Date: June 22, 2001

Venue: Kogakuin University

プログラム

12:00 Site opens
13:00 Opening ceremoty

Session 1 : Motion Analysis and Control of Link Mechanisms
Chair: Iwao Hayashi (Tokyo Institute of Technology)

13:20	The Direct and Inverse Kinematics of Spatial Multi-loop Manipulator with Redundancy Nobuyuki Iwatsuki(Tokyo Institute of Technology), Iwao Hayashi, Kouichi Morikawa and Itaru Kawasaki(SONY)
13:40	High Speed Casting Manipulation Shinsuke Izumi, Yukio Takeda, Hiroaki Funabashi, Masaru Higuchi and Hitoshi Arisumi(Institute of Advanced Industrial Science and Technology)
14:00	Kinematic Analysis of Spatial 7R Link Constant-velocity Joints Extended Shaft Angle Jun Nango(Yamagata University) and Yoshitaka Shizu

14:20 – 14:30 Break

Session 2 : Mechanism and Elements
Chair: Nobuteru Hitomi (High Energy Accelerator Research Organization)

14:30	Static Load Carrying Capacity and Static Stiffness of a Rolling Spherical Bearing Kazuki Ichikawa(Tokyo Institute of Technology), Yukio Takeda, Hiroaki Funabashi(Shibaura Institute of Technology) and Kazuya Hirose(Hephaost Seiko Co., Ltr.)
14:50	Prevention of Interference in Machining of Screw Surface by Ball-end Mill Yoshiaki Konishi (Nikkiso Co., Ltd.)
15:10	Spherical Volume-Type Pump Mechanism Toru Kawakami (Kawakami Seisakusho)

15:30 – 15:40 Break

Session 3 : Vibration and Its Applications
Chair: Yoshiaki Konishi (Nikkiso Co., Ltd.)

15:40	Artificial Seismic Source ACROSS to Generate Coherent Elastic Wave “About YAYOI-I,-II at ERI, University of Tokyo” Yuji Ohtake(University of Tokyo) and Hiromichi Higashihara
16:00	A Study of Torsional Vibration and Service Stress on Crankshaft System Takahiro Yamauchi(Musashi Institute of Technology) and Hisami Ohishi(Kogakuin University)

16:20 – 16:30 Break

Session 4 : Robotics
Chair: Yukio Takeda ( Tokyo Institute of Technology)

16:30	Development of a Talking Robot for Vowels and Consonant Sounds Kazufumi Nishikawa, Takayuki Ogawara, Akihiro Imai(Waseda University), Hideaki Takanobu(Kogakuin University) and Atsuo Takanishi(Waseda University)
16:50	Application of 3-D Flexible Actuator to Robotics Toshiharu Ide(Kogakuin University), Shigeaki Shiozawa, Shintaro Yagi, Takashi Yanagisawa and Hirofumi Miura

The 6th Symposium on Theory of Machines and Mechanisms

Date: November 28, 2000.

Venue: Kogakuin University

Program

Session 1 : Human-like Robot
Chair: Mikio Horie (Tokyo Institute of Technology)

8:50	Human Like Robot Head that has Personality Basde on Equations of Emotion Hiroyasu Miwa(Waseda University), Hideaki Takanobu and Atsuo Takanishi
9:15	Shoulder Mechanism with Humman-Like Motion Masafumi Okada(University of Tokyo) and Yoshihiko Nakamura
9:40	Robot Structure for Emotional Communication and Autonomous Behaviors Tetsuya Ogata(Waseda University) and Shigeki Sugano

10:05 – 10:15 Break

Session 2 : Mechanism Design and Motion Control
Chair: Masafumi Okada (University of Tokyo)

10:15	Motion Control of Network-Structure Robots Using Representative Points on Modules of the Robot Nobuyuki Iwatsuki(Tokyo Institute of Technology), Iwao Hayashi, Kouichi Morikawa, Yoshihito Kagawa(UC Davis), Mirei Hosono (IBM Japan) and Tomokatsu Kitamura (Tokyo Institute of Technology)
10:40	Study of Biped Walking Mechanism Kyosuke Ono(Tokyo Institute of Technology), Ryutaro Takahashi and Rongqiang Liu (Harbin Institute of Technology)
11:05	Design and Development of a Soft Joints Robotic Manipulator Khalid Munawar (Tohoku University), Masateru Kawaguchi, Koyu Abe and Masaru Unchiyama

11:30 – 12:30 Luncheon

Session 3 : Actuators
Chair: Nobuyuki Iwatsuki (Tokyo Institute of Technology)

12:30	Application of Pneumatic Silicone Rubber Actuator to Robotics Takashi Yanagisawa (Kogakuin University), Shintaro Yagi, Toshiharu Ide and Hirofumi Miura
12:55	Orientation Control of a Sphere Using Ultrasonic Actiator with 2 DOF Shingo Shimada (University of Tokyo), Masayuki Ueyama(Minolta Co., Ltd.), Takashi Matsuo, Ken Sasaki(University of Tokyo) and Kiyoshi Itao
13:20	Air Bearing Design and Flying Characteristic of Flexible Optical Head Slider Combining with Visible Laser Light Guide Terunao Hirota(University of Tokyo), Toshifumi Ohkubo, Kiyoshi Itao
13:45	An Artificial Arm by Using a Spherical Ultrasonic Motor Naoki Fukaya(Tokyo University of Agriculture and Technology), P. Eko Purwanto and Shigeki Toyama
14:10	Study on Specific Characteristics of Various Actuators Teru Hayashi (Toin University of Yokohama)

14:35 – 14:50 Break

Session 4 : Micromachines and Precision Mechanisms
Chair: Hidetsugu Terada (Yamanashi University)

14:50	Electowetting on Silicon Substrate and Appliation to Micromachines Daiki Kamiya(Tokyo Institute of Technology) and Mikio Horie
15:15	Verification of Hyper-precision Positioning Using Fabry-Perot Interferometer and Hyper-precision Angle Using a Crystal Lattice and an Air Bearing Yasuo Higashi (High Energy Accelerator Research Organization), Takashi Taniguchi, Hiroshi Sugiyama, X. Zhang, Masami Ando, Nobuteru Hitomi, Hiroshi Sakai(Kyoto University) and Yousuke Honda
15:40	Study on the Sound Generating Mechanism of a Cricket and a Bell Cricket Iwao Hayashi(Tokyo Institute of Technology), Nobuyuki Iwatsuki, Kouichi Morikawa, Yoshihito Kagawa(UC Davis) and Yasuhisa Kotoh(Tokyo Institute of Technology)

16:05 – 16:15 Break

Session 5 : Mechanisms for Motion and Power Transmission
Chair: Nobuteru Hitomi (High Energy Accelerator Research Organization)

16:15	Development of a Dual-Cavity Half-Toroidal CVT Jun Sugihara (Nissan Motor Co., Ltd.), Haruhito Mori and Toshifumi Hibi(JATCO Trans Technology Ltd.)
16:40	Fundamental Analysis of a Conical Swing Motion Type Ball Reducer Hidetsugu Terada(Yamanashi University) and Rinzo Irie(Sankyo Oiles Industry Inc.)
17:05	Torsional Vibration of Crankshaft System on Diesel Engine Tkahiro Yamauchi(Isuzu Motors Ltd.), Jouji Kimura and Hisami Ohishi(Kogakuin University)

17:30 – 17:40 Break

17:40

Special Lecture : Memories on IFToMM
Kaoru Hongo (President, Kogakuin Univesity)

The 5th Symposium on Theory of Machines and Mechanisms

Date: November 9, 1999

Venue: Kogakuin University

Program

Session 1 :
Chair: Hiroaki Funabashi (Tokyo Institute of Technology)

1．	Miniaturization of a Cylindrical Shaped Ultrasonic Motor Takesshi Morita(Riken), Minoru Kurosawa(Tokyo Institute of Technology) and Toshiro Higuchi(University of Tokyo)
2．	Application of Magnetostrictive Actuator to Punching Machine Naho Nagayama(Tokyo Denki Universtiy), Takanobu Wada and Takeshi Nakada
3．	The Mechanism for “Screw Principle” Micro Robot to Pass through the Stepped Portions at Pipe Joints Yoshihito Kagawa(Tokyo Institute of Technology), Iwao Hayashi, Nobuyuki Iwatsuki, Koichi Morikawa ,Toshiaki Yamaguchi(NEC) and Katsumi Nakamura(Kantool)
4．	The Gait Design of 8-legs-robot Daisuke Tanaka(Kogakuin University), Shintaro Yagi, Takashi Yanagisawa and Hirofumi Miura

Session 2 :
Chair: Shinji Yamakawa (Kogakuin University)

5．	Make Robots Move Like Human Katsu Yamane(University of Tokyo) and Yoshihiko Nakamura
6．	Mid-air Trajectory Control of Casting Manipulation by Impulsive Force Hitoshi Arisumi(Mechanical Engineering Laboratory) and Kiyoshi Komoriya
7．	Mechanism Design of Wrist Joint for an Articulated Manipulator Jun Nango(Yamagata University) and Katsumi watanabe
8．	A Multifingered Hand Using SMA Actuator Ryuichirou Yamamoto(Kogakuin University), Takashi Kato and Shinji Yamakawa

Session 3 :
Chair: Iwao Hayashi (Tokyo Institute of Technology)

9．	A Terrain Adaptive Strategy of a Biped Walking Machine Based on an Information of Advance/Delay of Landing Time of a Transfer Foot Masaru Higuchi(Tokyo Institute of Technology), Ichiro Kawabuchi, Yukio Takeda and Hiroaki Funabashi
10．	Special Characteristic Liquid Pumping Design Yoshiaki Konishi(Nikkiso Co., Ltd.), Yuki Tsukamoto and Kazuyuki Ito
11．	The Mechanical Engineering in the High Energy Physics Experiment Nobuteru Hitomi(High Energy Accelerator Research Organization)
12．	Development of nano-CMM -Evaluation of XY Stage- Masanao Fujiwara(University of Tokyo), Hirokazu Naoi, Kiyoshi Takamasu and Shigeo Ozono

The 4th Symposium on Theory of Machines and Mechanisms

Date: June 16, 1998

Venue: Centennial Memorial Hall (Tokyo Insitute of Technology)

Program

Session 1 :
Chair: Hiroaki Funabashi (Tokyo Institute of Technology)

1．	Static Analysis of Link Mechanisms in Consideration of Three Dimentional Deformation of Elements Shucheng Song(Yamagata University), Katsumi Watanabe and Jun Nango
2．	Kinematic Analysis of Spatial 7R 7-Link Mechanisms with Intersecting Axes Jun Nango(Yamagata University), Katsumi Watanabe and Ken’ichi Yuki
3．	Large Deflective Elastic Hinge and Its Application to Mechanical System Mikio Horie(Tokyo Institute of Technology)

Session 2 :
Chair: Kenichi Yoshimoto (University of Tokyo)

4．	Study of Inner Skeleton Frame type Biped Walking Robot Makoto Utsumi(Kogakuin University), Takashi Kato and Shinji Yamakawa
5．	Disturbance Compensation Control of a Biped walking Machine Based on Reflex Motions Hiroaki Funabashi(Toyko Institute of Technology), Yukio Takeda, Shigenari Itoh and Masaru Higuchi
6．	Study on Butterfly-based Flying Robot Harutoshi Miyamoto(University of Tokyo), Yuji Shimizu, Isao Shimoyama and Hirofumi Miura

Session 3 :
Chair: Shinji Yamakawa (Kogakuin University)

7．	A Study for the Safety and Operation of an Assisting Robot Akira Taruta(Tokyo Denki University), Yukio Saito, Katsuhiko Nakamura and Shigenobu Ishigami
8．	Intelligent Mobile Robot with Chaotic Information Processing Akinori Sekiguchi(University of Tokyo) and Yoshihiko Nakamura
9．	Modification of Structures to Reduce Sound Radiation Power Iwao Hayashi(Tokyo Institute of Technology), Nobuyuki Iwatsuki, Kohichi Morikawa and Mastaka Saitoh

The 3rd Symposium on Theory of Machines and Mechanisms

Date: May 27, 1997

Venue: Centennial Memorial Hall (Tokyo Insitute of Technology)

Program

Session 1 :
Chair: Hiroaki Funabashi (Tokyo Institute of Technology)

1．	A Synthesis of Multi-loop Manipulators with Redundancy Nobuyuki Iwatsuki(Tokyo Institute of Technology), Iwao Hayashi, Koichi Morikawa and Tsugihiko Haga
2．	Kinematic Analysis of Spatial 7R Link Couplings Jun Nango(Yamagata University) and Katsumi Watanabe
3．	Hybrid Control of a Flexible Manipulator Reducing Interferences between Position and Force Responses Sekiya Koike(Tokyo Institute of Technology), Hiroshi Shimojima and Katsuhiro Yambe
4．	A Study of Externally Powered Orthotic Devices using Hydraulic Bilateral-Servo Mechanisms Yukio Saito(Tokyo Denki University) and Kentarou Ishibashi

Session 2 :
Chair: Kenichi Yoshimoto (University of Tokyo)

5．	Optimum Design of Tooth Profile for Hypoid Gear Norihiko Kondo(Toyota Motor Corp.), Yoshikatsu Shibata and Toshinari Ito
6．	Fundamental Analysis of Trochoid Cam Rack Hidetsugu Terada(Yamanashi University), Takamichi Kushida, Hiroshi Makino and Kenji Imase(Kamo Seiko)
7．	The optimum control of the torque compensation cam mechanism at a variable speed range Masao Nishioka(Sankyo) and Masashi Arakawa

Session 3 :
Chair: Hirofumi Miura (University of Tokyo)

8．	Experiments of a Space Robot using a Drop-Shaft Yasuyuki Watanabe(University of Tokyo) and Yoshihiko Nakamura
9．	Low Voltage Electrostatic Microactuator Takashi Yasuda(University of Tokyo)
10．	On a Realization of Intelligent Mechanical Systems Tetsuya Urata(Kogakuin University), Yuzo Oka and Shinji Yamakawa

The 2nd Symposium on Theory of Machines and Mechanisms

Date: May 29, 1996

Venue: Sanjo Kaikan (University of Tokyo)

Program

Session 1 :
Chair: Hirofumi Miura (University of Tokyo)

1．	A Study on Automatic Detective System for Planetary Gear Train Yasuo Sumi(JATCO Corporation)
2．	The Pulsation Analysis for Reciprocating Type Pulseless Pumps Yoshiaki Konishi(NIKKISO Co. Ltd.)
3．	Branch Identificaton of RSCR Spatial Four-Link Mechanisms Katsumi Watanabe(Yamagata University), Takeshi Sekine and Jun Nango
4．	Motion Analysis of Planar Link Mechanisms with Consideration of Clearances and Friction at Pairs Ichiro Kawabuchi(Tokyo Institute of Technology), Hiroaki Funabashi and Yukio Takeda

Session 2 :
Chair: Hiroaki Funabashi (Tokyo Institute of Technology)

5．	Control of a Two-Link Gymnastics Bar Robot by Single Motor Keiichi Azumi(Kanazawa Institute of Technology), Atsuo Okubo and Kazuo Kanzaki
6．	A Robot Driven by an Insect Norihisa Miki(University of Tokyo), Isao Shimoyama and Hirofumi Miura
7．	Location for Damping Treatment in Consideration of the Vibration Mode Shapes Hisami Ohishi(Kogakuin University), Shinobu Saegusa, Hideki Karasawa and Shinji Yamakawa

Session 3 :
Chair: Yukio Hori (Kanazawa Institute of Technology)

8．	Design and Control of A Nonholonomic Manipulator Woojin Chung(University of Tokyo), Yoshihiko Nakamura and O. J. SORDALEN
9．	roposal of a New Design of a Planar 2 DOF Manipulator Based on the Five Bar Linkage D. N. Nenchev(Tohoku University) and M. Uchiyama
10．	Analysis and Simulation of Manipulation Statics by Multi-Fingersurfaces Hiroshi Takao(University of Tokyo), Hiroaki Seki, Masaharu Takano and Ken Sasaki

The 1st Symposium on Theory of Machines and Mechanisms

Date: May 8, 1995

Venue: Sanjo Kaikan (University of Tokyo)

Program

Session 1 :
Chair: Hirofumi Miura (University of Tokyo)

1．	Study of a pneumatics robot utilized BTA(Bourdon Tube Actuator) Yoshihide Fujiwara(Tokyo Denki University), Kazutaka Hattori and Yukio Saito
2．	Study on Cycloid Motors Iwao Hayashi(Tokyo Institute of Techonology), Nobuyuki Iwatsuki, Junji Shibata(Shibaura Insitute of Technology), Motoyoshi Kawai(NEC), Kousuke Fujimoto(Cannon), Takiji Kitagawa(Komatsu), Hiroshi Matsunaga(Meitec) and Akira Ueki(Bridgestoen)
3．	Control of Nonholonomic Phenomena Takahiro Suzuki(University of Tokyo), Masabumi Koinuma and Yoshihiko Nakamura
4．	Kinematic Analysis of General Spatial 7-Link Mechanisms Katsumi Watanabe(Yamagata University), Jun Nango, Takeshi Sekine
5．	Development of In-parallel Actuated Manipulators with Consideration of Motion Transmissibility Yukio Takeda(Tokyo Institute of Technology) and Hiroaki Funabashi

Session 2 :
Chair: Hiroaki Funabashi (Tokyo Institute of Technology)

6．	Effect of Damping Treatment on the Vibration Modes Hisami Ohishi(Kogakuin University), Katsuaki Takahashi, Shinji Yamashita
7．	Non-linear Characteristics and Controllability of Transmission Mechanism Hidetsugu Terada(Yamanashi University), Hiroshi Makino, Teru Hayashi(Toin Gakuen Yokohama University)
8．	Full Traction Characteristics of the Lubricants and New Type Transmission Mechanisms Masana Kato(Tohoku University), Gang Deng and Kohshiro Kato

Session 3 :
Chair: Yukio Hori (Kanazawa Institute of Technology)

9．	Stability of Two-Lobe Journal Bearing with Worn Surface Kenji Suzuki(University of Tokyo), Masato Tanaka
10．	Manipulation with Dynamic Skills Hirohiko Arai(Mechanical Engineering Laboratory), Kazuo Tanie
11．	Locomotion of a Hexapod Robot Hisaya Miyashita(University of Tokyo), Satoshi Sugiyama, Isao Shimoyama and Hirofumi Miura

Deadline of submission	~~March 25, 2025~~ Extended to April 1, 2025
Notification of acceptance^(*)	April 8, 2025

Deadline of submission	1st April, 2024
Notification of acceptance^(*)	8th April, 2024

Latest Information:

Date:

Venue:

Important dates:

Past symposium:

Date:

Venue:

Important dates:

Date:

Venue:

Important dates:

Technical tour on 15 July (Fri.)

Gathering place: Entrance of C3 bldg., Katsura campus, Kyoto university

Symposium program on 16 July (Sat.)

Photo gallery

Technical Tour on October 25

Symposium and Technical Networking Event on October 26

Abstract of the Special Lecture

Program

Program

Program

Program

Program