Ryuma Niiyama

Real-to-real 2D crawling gait learning for a tendon-driven soft caterpillar robot

Ryuma Niiyama, Sakura YAMAGUCHI, Koichi TEZUKA

Soft robots exhibit rich deformation and contact interactions that are particularly suited to crawling locomotion. At the same time, these properties make modeling and control challenging, especially in systems with continuous deformation and strong ground contact. While simulation-based reinforcement learning has been …

jp (code pays fourni par la source)

Soft-Shell Crab-Inspired Inflatable Limbs Formed from a Continuous Tube

Seita YAMAGUCHI, Ryuma Niiyama

Soft skeletal systems allow soft robots to remain compliant while maintaining structural stability and producing endpoint forces. Inspired by the soft-shell stage of crabs, where multi-jointed legs originate as continuous tubular forms before hardening, we explore the formation of articulated limb geometries …

jp (code pays fourni par la source)

Magnet-assisted relocatable functional layers for inflatable structures

Hyun Dong Lee, Ryuma Niiyama

Magnet-assisted damage-detecting and self-healing layers for inflatable structures were developed in combination with an instantly cross-linkable material. Covering the outer membrane of inflatable parts from the both sides, the magnet-assisted functional layers are capable of selectively and effectively protecting vulnerable areas, detecting …

jp (code pays fourni par la source)

Inflammatory Response‐Inspired Thermochromic Shield for Pneumatic Structures

Hyun Jae Lee, Ryuma Niiyama

An instant color‐changing shield was devised for pneumatic structures. The inspiration from the inflammatory response of the human immune system led to the fabrication of a rapid damage‐detecting and instant repairing system using an exothermal reaction between anhydrous sodium acetate and water. …

jp (code pays fourni par la source)

Single-chamber Inflatable Robot Arm with a Four-finger Gripper Driven by Built-in Pouch Muscles

Masayuki OTSUKA, Ryuma Niiyama

Inflatable robots are a class of soft robots that are suitable for human robot interaction, but their control complexity and safety remain challenging. We propose a soft inflatable robot in which the exterior, continuously supplied with air by a blower, serves as …

jp (code pays fourni par la source)

Wire-Driven Reconfigurable Soft Modular Robot for Multi-Modal Locomotion

Sakura YAMAGUCHI, Ryuma Niiyama

Soft locomotion robots, leveraging compliant materials, adapt well to complex terrains, yet research evaluating variations in body configuration and achieving multiple locomotion modes within a single system remains limited. We present a reconfigurable soft modular robot combining urethane chip foam flexibility with …

jp (code pays fourni par la source)

Design Concept and Applications of Inflatable Robots: Single and Dual-Arm with Internal Drop-Stitch Structure and Rigid Joints

Gangadhara Naga Sai Gubbala, H. Nakagawa, Hiroki Uchida, M. Nagashima et autres

In this research, we focus on the design and applications of a 12DoF(degrees of freedom) dual-arm inflatable robot. The design utilizes a combination of soft bodies, such as inflatable links, and hard joints as servo actuators. This combination enables us to retain …

jp, us (code pays fourni par la source)

Pneumatic bladder links with wide range of motion joints for articulated inflatable robots

Katsu Uchiyama, Ryuma Niiyama

Exploration of various applications is the frontier of research on inflatable robots. We proposed an articulated robots consisting of multiple pneumatic bladder links connected by rolling contact joints called Hillberry joints. The bladder link is made of a double-layered structure of tarpaulin …

Edible Pouch Motors

Kazuma Takai, Ryuma Niiyama, Jun Shintake

Edible robotics offers novel applications in which actuators play a key role. However, most existing edible actuators rely on 3D structures that require complex and laborious fabrication processes, hindering rapid prototyping and deployment. To address this issue, this study explores the use …

jp (code pays fourni par la source)

Bleeding‐Mimetic Damage‐Detecting and Self‐Healing Modular Skin for Inflatable Structures

Hyun Jae Lee, Ryuma Niiyama

Inflatable Structures In article number 2500009, Hyun Jae Lee and Ryuma Niiyama developed a damage-detecting and self-healing system inspired by the human bleeding mechanism for inflatable structures, using a liquid conductive elastomeric material enclosed in a small pouch. This material, composed of …

jp (code pays fourni par la source)

Chemochromic Damage-Detecting and Recovery System Using Affordable Hydrogel

Hyun Jae Lee, Ryuma Niiyama

A multipurpose chemochromic protector is proposed with a hydrogel made from a mixture of sodium chloride, starch, and water, and the deposition of a copper layer on the nylon polyethylene film surrounding the hydrogel. This hydrogel is found to be chemically stable, …

jp (code pays fourni par la source)

A Snap Mechanism Imitating the Thoracic Joint of a Click Beetle

Takahiro Matsuno, Ryuma Niiyama, Shinichi Hirai

In this study, we focused on the thoracic joint of a click beetle and proposed a two-link type snap mechanism. This mechanism mimics the click beetle's principle for storing and releasing elastic energy, and is composed of links, springs, motors, viscoelastic peg, …

jp (code pays fourni par la source)