Shunta TOGO (東郷 俊太)

Offer Organization: Japan Society for the Promotion of Science, System Name: Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Research (Exploratory), Category: Grant-in-Aid for Challenging Research (Exploratory), Fund Type: -, Overall Grant Amount: - (direct: 4900000, indirect: 1470000)
Extracting / tracking and following / monitoring technology for internal organs that move with deformation while interacting with each other by breathing, technology for linking / integrating information from external and internal motion capture, organs are displaced / deformed / rotated according to breathing It is possible to monitor the dynamics of organs by synthesizing time-series ultrasound images even if the organs that move in the body are partially deleted on the ultrasound image due to the case of swelling or shielding such as ribs. There have been remarkable achievements in the development of the algorithm technology, the diagnostic image optimization algorithm technology by the above-mentioned robotic avoidance operation of shielding, and the algorithm technology for evaluating the appropriateness of the acquired image from the contact state of the probe and the contour of the organ.

Offer Organization: Japan Society for the Promotion of Science, System Name: Grants-in-Aid for Scientific Research Grant-in-Aid for Early-Career Scientists, Category: Grant-in-Aid for Early-Career Scientists, Fund Type: -, Overall Grant Amount: - (direct: 3200000, indirect: 960000)
The objective of this study was to develop a robotic hand that can realize various hand motions with a small number of actuators, based on a mechanical representation of the hand synergy, which is the basis of human hand motions. As a result of developing a wire traction and underactuated robot hand, it was found that stable grasping of an object and intelligent hand control are difficult with the underactuated form. In order to improve the grasping ability of the robot hand, we developed a soft finger that mimics the human body structure. Experimental results showed that the asymmetry shape of the distal phalanx and the interaction between the hard fingernail and the soft finger pulp improved the precision grasping ability. We also developed an unlimited rotary wire winding mechanism that can exert high traction force by pressing the wire against a narrow shaft with a drum.