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Satoshi Takahara,Seonghee Jeong 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In this paper, a robotic mobility aid was proposed, which aims at assisting the elderly’s active mobility in a daily life. A prototype of the devices was designed and constructed, and its mechanical structure and control system configuration was described. It consists of a wheeled balancing mobile platform, a 3 D.O.F waist part with a parallel mechanism, and a dual manipulator with 4 D.O.F. The elderly’s physical motions to move, standing-sitting and walking, from such a bed to the other place could be assisted by the device. In addition, it is also capable of assisting a wheelchair driving by using the dual manipulator. The waist part is able to support user’s heavy weight owing to the parallel link mechanism, and to assist user’s motion based on the information from a 6 axis force/torque sensor. Since the wheeled balancing mobile platform with an overturning prevention equipment has a compact structure, a user can easily and safely moves even in a complicated environment. Pitch and roll motions were demonstrated by the distributed control system implemented on the prototype robotic mobility aid.
CASE REPORT : Four Cases of Successfully Treated Chronic Expanding Soft Tissue Hematoma
( Takamichi Ito ),( Takeshi Nakahara ),( Satoshi Takeuchi ),( Hiroshi Uchi ),( Masakazu Takahara ),( Yoichi Moroi ),( Masutaka Furue ) 대한피부과학회 2014 Annals of Dermatology Vol.26 No.1
Chronic expanding hematoma (CEH) is a rare, slow- developing disease that occurs months to years after trauma or surgery. Most CEH in soft tissue occurs in the thigh or upper extremities and can occur with or without an inducible cause. Ninety-one cases of CEH in soft tissue have been reported previously in the Japanese and English literature but its occurrence on the sole has not been reported. Here, we report four cases of successfully treated CEH, including a case occurring on the sole, and provide a review of the literature. (Ann Dermatol 26(1) 107∼110, 2014)
Kojio, Ken,Nozaki, Shuhei,Takahara, Atsushi,Yamasaki, Satoshi The Rubber Society of Korea 2019 ELASTOMERS AND COMPOSITES Vol.54 No.4
Polyurethane elastomers (PUEs) were synthesized using trans-1,4-bis(isocyanatomethyl) cyclohexane (1,4-H6XDI), poly(oxytetramethylene) glycol, 1,4-butanediol (BD), and 1,1,1-trimethylol propane (TMP). To control the molecular aggregation state and mechanical properties of these PUEs, hard segment contents of 20 and 30 wt% and BD/TMP ratios of 10/0 and 8/2 were chosen. Differential scanning calorimetry and small-angle X-ray scattering measurements revealed that the degree of microphase separation increased with an increase in both hard segment content and BD ratio. The Young's modulus and strain at break of the 1,4-H6XDI-based PUE were 6-20 MPa and 5-15, respectively. Incorporation of 20% TMP as a cross-linking agent into BD increased the melting temperature of the hard segment chains, that is, heat resistance, and decreased the Young's modulus. This could be due to the low density of the physical cross-linking network and the dispersion of hard segment chains in the soft segment matrix in the PUE in the presence of 20% TMP.
( Ken Kojio ),( Shuhei Nozaki ),( Atsushi Takahara ),( Satoshi Yamasaki ) 한국고무학회 2019 엘라스토머 및 콤포지트 Vol.54 No.4
Polyurethane elastomers (PUEs) were synthesized using trans-1,4-bis(isocyanatomethyl) cyclohexane (1,4- H6XDI), poly(oxytetramethylene) glycol, 1,4-butanediol (BD), and 1,1,1-trimethylol propane (TMP). To control the molecular aggregation state and mechanical properties of these PUEs, hard segment contents of 20 and 30 wt% and BD/TMP ratios of 10/0 and 8/2 were chosen. Differential scanning calorimetry and small-angle X-ray scattering measurements revealed that the degree of microphase separation increased with an increase in both hard segment content and BD ratio. The Young’s modulus and strain at break of the 1,4-H6XDI-based PUE were 6-20 MPa and 5-15, respectively. Incorporation of 20% TMP as a cross-linking agent into BD increased the melting temperature of the hard segment chains, that is, heat resistance, and decreased the Young’s modulus. This could be due to the low density of the physical cross-linking network and the dispersion of hard segment chains in the soft segment matrix in the PUE in the presence of 20% TMP.