Performance information

• ２輪衝突ライダ挙動２次元縮退モデルの構築　　　　　　　　　　　　　　　
  前原 一範; 齋藤 誠志; 和田 良治; 佐藤 崇; 佐宗 高; 岡元 雅義; 成川 輝真
  Volume：56, Number：6, First page：1206, Last page：1212, Nov. 2025, []
• 空気ばねを用いた防振機構における積載物特性の推定　　　　　　　　　　　　　　　
  中野 健太; 山本 浩; 成川 輝真
  Volume：91, Number：942, First page：24-00218, Feb. 2025, []
• 自動減衰調整機構を有する空気ばねを用いた防振システムの開発　　　　　　　　　　　　　　　
  髙浪 裕樹; 山本 浩; 成川 輝真
  Volume：89, Number：924, First page：23-00096, Aug. 2023, []
• Two-dimensional Degenerated Model of Next-generation Crash Test Dummy THOR 5F　　　　　　　　　　　　　　　
  Kurano Yutaro; Hikida Kazuki; Hibara Shinya; Kawamura Yasushi; Maehara Kazunori; Narukawa Terumasa
  International Journal of Automotive Engineering, Volume：11, Number：3, First page：94, Last page：100, 2020, []
• 次世代衝突ダミーTHOR の2次元縮退モデルの構築　　　　　　　　　　　　　　　
  倉野 優太郎; 疋田 和樹; 米本 涼; 檜原 慎弥; 川村 康; 前原 一範; 成川 輝真
  Volume：50, Number：3, First page：863, Last page：869, 2019, []
• Characteristics of adjustable dynamic vibration absorber
  根本健也; 山本浩; 成川輝真
  日本機械学会論文集(Web), Volume：84, Number：862, First page：ROMBUNNO.18‐00062(J‐STAGE), 2018, []
  ISSN：2187-9761, J-Global ID：201802212643131645
• A Simple Dynamic Model Based on Human FE Model in Side Impact Crash　　　　　　　　　　　　　　　
  Narukawa Terumasa; Okamoto Masayoshi; Motozawa Yasuki; Mori Fumie
  Transactions of Society of Automotive Engineers of Japan, Volume：46, Number：6, First page：1151, Last page：1156, 2015, []
  A simple dynamic human model in side impact crash is introduced based on finite element (FE) model. The simple dynamic model consists of three masses corresponding to the thorax, the upper body and the lower body. The thorax mass was introduced in order to consider the thoracic deflection. The thorax and the upper body were connected by a linear spring and a linear damper in parallel. Numerical simulations show that the simple dynamic model can approximate the thoracic deflection, the upper body displacement, and the lower body displacement of the human FE model in side impact crash.
  公益社団法人 自動車技術会
  ISSN：0287-8321, CiNii Articles ID：130006319674, CiNii Books ID：AN00105913
• Vibration Isolator Using Air Suspensions with Slit Restrictions　　　　　　　　　　　　　　　
  NARUKAWA Terumasa; SAKURADA Ken; YAMAMOTO Hiroshi
  Journal of the Japan Society for Precision Engineering, Volume：80, Number：1, First page：94, Last page：98, 2014, []
  This paper investigates the dynamic characteristics of an isolator supported by four air suspensions. Each air suspension has a cylinder, a reservoir tank and a slit restriction. The air suspension with the slit restriction provides damping which is introduced through the flow restriction connecting the cylinder and the reservoir tank. The slit restriction is effective for suppressing micro vibration because air flow in the restriction is viscous flow. The effects of the air suspension with the slit restriction are shown through theoretical analysis and experimental tests. An experimental investigation indicates the air suspension model including rubber membrane predicts frequency-domain behavior closely. Experimental tests show that the maximum transmissibility of the isolator is about 1.5 by choosing the optimal slit depth.
  公益社団法人 精密工学会
  DOI：https://doi.org/10.2493/jjspe.80.94
  DOI ID：10.2493/jjspe.80.94, ISSN：0912-0289, CiNii Articles ID：130003385065
• Dynamic characteristics of 3-DOF vibration isolator supported with air suspensions　　　　　　　　　　　　　　　
  Hiroshi Yamamoto; Tatsuya Ozu; Terumasa Narukawa
  Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：79, Number：804, First page：2780, Last page：2791, 2013, []
  一般社団法人 日本機械学会
  DOI：https://doi.org/10.1299/kikaic.79.2780
  DOI ID：10.1299/kikaic.79.2780, ISSN：0387-5024, CiNii Articles ID：130003375147, SCOPUS ID：84885039313
• Studies on occupant restraint method in car crash using reduced-order dynamic model considering thoracic deflection　　　　　　　　　　　　　　　
  Terumasa Narukawa; Hidekazu Nishimura; Yuichi Ito; Yasuki Motozawa
  Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：79, Number：801, First page：1396, Last page：1405, 2013, []
  一般社団法人 日本機械学会
  DOI：https://doi.org/10.1299/kikaic.79.1396
  DOI ID：10.1299/kikaic.79.1396, ISSN：0387-5024, CiNii Articles ID：130003375025, SCOPUS ID：84879903462
• Reduced-Order Dynamic Model Considering Thoracic Deflection Based on Human FE Model in Frontal Car Crash　　　　　　　　　　　　　　　
  成川輝真; 西村秀和; 伊藤優一; 本澤養樹
  日本機械学会論文集 C編(Web), Volume：78, Number：795, First page：3677-3688 (WEB ONLY), Last page：3688, 2012, []
  A simple dynamic model is useful to understand the essential dynamics of an occupant in car crash and will be effective to determine the properties of protection devices. In this paper, a reduced-order dynamic model is introduced based on human finite element (FE) model having age-specific characteristics such as bone stiffness and tolerance of the body. The reduced-order dynamic model consists of two masses and one rigid body. The two masses correspond to the thorax and the lower body, and the rigid body corresponds to the upper body. The mass representing the thorax was connected to the upper body by a spring and a damper in parallel to consider the thoracic deflection, which is one of the representing injury criteria in frontal car crash. The comparisons of the responses between the reduced-order dynamic model and the human FE model were conducted in frontal car crash and indicate that the reduced-order dynamic model can approximate the thoracic deflection, the thorax displacement, and the lower body displacement.
  The Japan Society of Mechanical Engineers
  DOI：https://doi.org/10.1299/kikaic.78.3677
  DOI ID：10.1299/kikaic.78.3677, ISSN：1884-8354, J-Global ID：201302252788819009, CiNii Articles ID：130002571896
• Control System Design for Occupant Lower Extremity Protection Using Semi-Active Knee Bolster　　　　　　　　　　　　　　　
  成川輝真; 西村秀和
  日本機械学会論文集 C編(Web), Volume：78, Number：789, First page：1711-1722 (WEB ONLY), Last page：1722, 2012, []
  This paper presents control system design for occupant lower extremity protection in the event of a frontal car crash. A semi-active knee bolster is used to protect occupant lower extremities. The semi-active knee bolster varies the damping coefficient of the knee bolster. The control system design of the semi-active knee bolster is based on a design method of an active knee bolster. LQI (Linear Quadratic Integration) control with an initial value compensation input is applied. We obtain an optimal reference signal of the contact force between the knees and the instrument panel by considering characteristics of the semi-active actuator and the closed loop control system. The control system of the semi-active knee bolster follows the reference signal of the contact force. The protective control system with the semi-active knee bolster is effective for reducing the femur load, verified by carrying out simulations and experiments.
  The Japan Society of Mechanical Engineers
  DOI：https://doi.org/10.1299/kikaic.78.1711
  DOI ID：10.1299/kikaic.78.1711, ISSN：1884-8354, J-Global ID：201202285013198944, CiNii Articles ID：130002051431
• Walking Control for a Compass-Like Biped Robot under Variable Gravity Based on Passive Dynamic Walking　　　　　　　　　　　　　　　
  松本祐介; 池田達彦; 成川輝真; 高橋正樹
  日本機械学会論文集 C編(Web), Volume：78, Number：791, First page：2496-2508 (WEB ONLY), 2012, []
  DOI：https://doi.org/10.1299/kikaic.78.2496
  DOI ID：10.1299/kikaic.78.2496, ISSN：1884-8354, J-Global ID：201202261112134200
• Shock Control of Servo Press Using Two-Staged Final-State Control　　　　　　　　　　　　　　　
  福崎淳一; 成川輝真; 西村秀和; 伊藤博幸; 有壁剛生
  日本機械学会論文集 C編(Web), Volume：78, Number：793, First page：3166-3177 (WEB ONLY), Last page：3177, 2012, []
  Recently, servo presses driven by servo motors have become widely into use. In this research, we derive the optimal control inputs of the slide and die cushion and trajectory which fills the suitable index of formability and productivity using shock control. It aims to design the control system for securing the robustness for friction or a parameter error. The contact load of the slide and the die cushion, bottom dead point and its arrival time are used as the index. In derivation of the optimal control inputs and trajectory, we proposed method of applying final-state control by dividing from the collision of the slide and the die cushion until reaching the bottom dead point into two stages. In order to secure the robustness we propose the control system which changes control flexibility. By carrying out numerical simulations and experiments, it is verified that the control system has good performance.
  The Japan Society of Mechanical Engineers
  DOI：https://doi.org/10.1299/kikaic.78.3166
  DOI ID：10.1299/kikaic.78.3166, ISSN：1884-8354, J-Global ID：201202236250641428, CiNii Articles ID：130002051557
• Development of Gravity Compensator for Analysis of Walking Characteristics under the Reduced Gravity (Verification of Its Effectiveness with Rimless Wheel)　　　　　　　　　　　　　　　
  池田達彦; 松本祐介; 成川輝真; 高橋正樹; 山田深; 大島博; 里宇明元
  日本機械学会論文集 C編(Web), Volume：78, Number：790, First page：2119-2130 (WEB ONLY), 2012, []
  DOI：https://doi.org/10.1299/kikaic.78.2022
  DOI ID：10.1299/kikaic.78.2022, ISSN：1884-8354, J-Global ID：201202230749688010
• Efficient walking with optimization for a planar biped walker with a torso by hip actuators and springs　　　　　　　　　　　　　　　
  Terumasa Narukawa; Masaki Takahashi; Kazuo Yoshida
  ROBOTICA, Volume：29, First page：641, Last page：648, Jul. 2011, []
  DOI：https://doi.org/10.1017/S0263574710000354
  DOI ID：10.1017/S0263574710000354, ISSN：0263-5747, eISSN：1469-8668, Web of Science ID：WOS:000292239200016
• Control System Design for Occupant Lower Extremity Protection in Vehicle Frontal Collision (Cooperative Control of Active Knee Bolster and Active Lap Belt)　　　　　　　　　　　　　　　
  NARUKAWA Terumasa; NISHIMURA Hidekazu
  J Syst Des Dyn (Web), Volume：5, Number：5, First page：1176-1187 (J-STAGE), Last page：1187, 2011, []
  This paper presents control system design for occupant lower extremities protection in vehicle frontal collision. A protective control system consisting of an active knee bolster and an active lap belt is designed to reduce the maximum load to the femurs and the maximum lap belt force. In the control system design, we examine the effects of the initial distance between the occupant's knees and the active knee bolster, and the maximum pelvis displacement. It is expected that the initial distance affects the protection performance because the control duration of the active knee bolster mainly depends on the initial distance. To avoid the collision with the steering wheel, the maximum pelvis displacement is restrained. The lap belt force and the contact force between the knees and the instrument panel are calculated so that the load to the femurs is reduced while the lap belt force is not increased compared to passive lap belt. Simulation results clarify the effects of the initial distance and the maximum pelvis displacement on occupant protection under assumption that the protective control system can vary the initial distance.
  The Japan Society of Mechanical Engineers
  DOI：https://doi.org/10.1299/jsdd.5.1176
  DOI ID：10.1299/jsdd.5.1176, ISSN：1881-3046, J-Global ID：201102258876652088, CiNii Articles ID：130001014217
• Motion analysis and experiment of a planar passive biped walker with flat feet and ankle springs　　　　　　　　　　　　　　　
  Terumasa Narukawa; Kazuto Yokoyama; Masaki Takahashi
  Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：76, Number：765, First page：1380, Last page：1385, 2010, []
  Japan Society of Mechanical Engineers, Japanese
  DOI：https://doi.org/10.1299/kikaic.76.1380
  DOI ID：10.1299/kikaic.76.1380, ISSN：0387-5024, J-Global ID：201002248697236648, CiNii Articles ID：110007619503, SCOPUS ID：77955203784
• Design and Stability Analysis of a 3D Rimless Wheel with Flat Feet and Ankle Springs　　　　　　　　　　　　　　　
  NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
  J Syst Des Dyn (Web), Volume：3, Number：3, First page：258-269 (J-STAGE), Last page：269, 2009, []
  A two-dimensional rimless wheel provides a simple model of bipedal walking. The motion of the rimless wheel is stable, and this particular property has clarified the fundamental role of a swing leg in planar bipedal walking that addresses the problem of falling forward. In this paper, a three-dimensional rimless wheel is investigated as a simple model of three-dimensional bipedal walking. The 3D rimless wheel model is useful in understanding the essential dynamics of 3D bipedal locomotion. The model consists of two rimless wheels connected by a link at the center of the wheels, and flat feet connected to the spokes with springs. The first numerical stability studies indicated that the motion of the 3D rimless wheel could be unstable; however, numerical simulations and experimental results showed that for a given slope and physical parameters, including the spring constant at the ankles, a stable motion is obtained. This indicates the usefulness of ankle springs in providing stable bipedal locomotion in three-dimensions.
  The Japan Society of Mechanical Engineers, English
  DOI：https://doi.org/10.1299/jsdd.3.258
  DOI ID：10.1299/jsdd.3.258, ISSN：1881-3046, J-Global ID：200902279993672714, CiNii Articles ID：130000132881
• Design and Construction of a Simple 3D Straight-Legged Passive Walker with Flat Feet and Ankle Springs　　　　　　　　　　　　　　　
  NARUKAWA Terumasa; YOKOYAMA Kazuto; TAKAHASHI Masaki; YOSHIDA Kazuo
  J Syst Des Dyn (Web), Volume：3, Number：1, First page：1-12 (J-STAGE), Last page：12, 2009, [Reviewed]
  To date, most passive walkers have been designed with arc-shaped feet rigidly attached to the legs. However, the friction torque against yaw is often insufficient because of their contact conditions with the ground. We developed a simple 3D straight-legged passive walker with flat feet and ankle springs. Flat feet were used to gain enough scrubbing friction to oppose unstable yaw motion. Springs were attached to the ankle to produce torque resulting in roll and pitch motions that mimic those of 3D passive walkers with arc-shaped feet, while the friction torque against yaw should be sufficient. The spring constant for the roll motion at the stance ankle is obviously an important factor in enabling the straight-legged robot to rock adequately from side to side to avoid problematic scuffing of the swing leg so it can swing forward. We used numerical simulations to determine the value of the spring constant. Experimental results indicated that our 3D straight-legged passive walker with a 0.77-m leg can walk more than 2 m at about 0.46 m/s.
  The Japan Society of Mechanical Engineers, English
  DOI：https://doi.org/10.1299/jsdd.3.1
  DOI ID：10.1299/jsdd.3.1, ISSN：1881-3046, J-Global ID：200902248955564662, CiNii Articles ID：130000674113
• Numerical Simulations of Level-Ground Walking Based on Passive Walk for Planar Biped Robots with Torso by Hip Actuators　　　　　　　　　　　　　　　
  NARUKAWA Terumasa; TAKAHASHI Masaki; YOSHIDA Kazuo
  J Syst Des Dyn (Web), Volume：2, Number：2, First page：463-474 (J-STAGE), Last page：474, 2008, [Reviewed]
  This study aims at a design technique of energy-efficient biped walking robots on level ground with simple mechanisms. To do this, we focus on the passive dynamic walkers which can walk stably down a shallow slope without actuators and controllers. On level ground, active walking should be studied because the mechanical energy is mainly lost through the swing-leg impacts with the ground. In this paper, numerical simulations show that planar biped robots with torso can walk efficiently on level ground over a wide range of speed by only using hip actuators. The hip actuators are used for a torso and swing-leg control based on passive-dynamic walking. The torso is used to generate active power replacing gravity used in the case of the passive walk. The swing-leg control is introduced to walk stably over a wide range of speed.
  The Japan Society of Mechanical Engineers, English
  DOI：https://doi.org/10.1299/jsdd.2.463
  DOI ID：10.1299/jsdd.2.463, ISSN：1881-3046, J-Global ID：200902253771188203, CiNii Articles ID：130000098844
• Intelligent Stabilization Control to Arbitrary Equilibrium Point of Double Inverted Pendulum　　　　　　　　　　　　　　　
  高橋正樹; 成川輝真; 吉田和夫
  日本機械学会論文集 C編, Volume：70, Number：689, First page：15, Last page：22, Jan. 2004, [Reviewed]
  Japanese
  DOI：https://doi.org/10.1299/kikaic.70.15
  DOI ID：10.1299/kikaic.70.15, ISSN：0387-5024, J-Global ID：200902217950348780
• Robustness and Fault-Tolerance of Cubic Neural Network Intelligent Control Method: Comparison with Sliding Mode Control　　　　　　　　　　　　　　　
  Masaki Takahashi; Terumasa Narukawa; Kazuo Yoshida
  Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：69, Number：682, First page：1579, Last page：1586, 2003, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1299/kikaic.69.1579
  DOI ID：10.1299/kikaic.69.1579, ISSN：0387-5024, J-Global ID：200902277386469117, SCOPUS ID：0042932517

• 屋内外を走行する小型無人搬送車の急制動システムの構築　　　　　　　　　　　　　　　
  01 Apr. 2022 - 31 Mar. 2025
  Grant amount(Total)：4030000, Direct funding：3100000, Indirect funding：930000
  Grant number：22K03993
• 積載物および走行路面の状況に自動的に対応する無人搬送車用防振システムの開発　　　　　　　　　　　　　　　
  01 Apr. 2021 - 31 Mar. 2024
  Grant amount(Total)：4290000, Direct funding：3300000, Indirect funding：990000
  Grant number：21K03943
• 直列粘弾性アクチュエータを用いた歩行者用アクティブダミーの開発　　　　　　　　　　　　　　　
  01 Apr. 2019 - 31 Mar. 2023
  Grant amount(Total)：4030000, Direct funding：3100000, Indirect funding：930000
  Grant number：19K04270
• Development of a high presision vibration isolator using air suspensions with auto tuning mechanism　　　　　　　　　　　　　　　
  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), 01 Apr. 2016 - 31 Mar. 2020
  Yamamoto Hiroshi, Saitama University
  Grant amount(Total)：4810000, Direct funding：3700000, Indirect funding：1110000
  For the purpose of developing a high precision vibration isolator using air suspensions with an automatic adjustment mechanism, we firstly clarify the dynamic characteristics of the vibration isolator supported by multiple air suspensions theoretically and experimentally. The design guideline for minimizing the resonance magnification of the vibration isolator is clarified. In addition, in order to clarify the effect of load fluctuation, the effect of the supporting mass and the position of the center of gravity on the dynamic characteristics of the vibration isolator supported by the air suspensions is clarified. We find that it is necessary to adjust the equivalent damping coefficient of the air suspension in order to minimize the resonance amplitude when the load changes, and proposed a mechanism that simply adjusts the damping coefficient, which is the most characteristic of the air suspension. The isefullness of the proposed adjustment mechanism is clarified.
  Grant number：16K06148
• Crash safety of unmanned vehicles for pedestrian protection　　　　　　　　　　　　　　　
  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (B), 01 Apr. 2015 - 31 Mar. 2018
  Narukawa Terumasa, Saitama University
  Grant amount(Total)：3900000, Direct funding：3000000, Indirect funding：900000
  Small unmanned vehicles moving on sidewalks must have high collision safety in order to avoid injury when collision accidents with pedestrians occur. In this study, we proposed an active bumper with a series elastic actuator in order to generate a desired force applied to the bumper and ensure collision safety performance even in case of failure of the active bumper. The series elastic actuator consists of an elastic element in series with a table driven by a ball screw and servo motor. The optimal motor torque for minimizing the maximum deflection of the object of the collision is derived, and it is shown that the active bumper with the series elastic actuator have high collision safety.
  Grant number：15K17993