Ito Hatta Laboratory Kazuaki Ito & Hatta Laboratory Mechatronics, Intelligent Mechanical Engineering Course, Department of Mechanical Engineering, Faculty of Engineering, Gifu University
/ Intelligent Production Technology Research & Development Center for Aerospace (IPTeCA)

Yoshiyuki Hatta

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Yoshiyuki Hatta

Assistant Professor, Mechatronics, Intelligent Mechanical Engineering Course, Department of Mechanical Engineering, Faculty of Engineering, Gifu University

In recent years, robots have been increasingly adopted in various fields. However, there remain many challenging scenarios for robot deployment. Particularly, tasks that require delicate and precise force control are areas where current robots struggle. To achieve force-control performance like humans, I'm conducting the following research:

Yoshiyuki Hatta

Development of motor and actuators

In order to make it possible to introduce robots into many different fields where further demand is anticipated, downsizing of robots has become one of the important challenges. Therefore, we are currently developing a two-degree-of-freedom motor capable of operating both linear and rotational motors with a single motor unit. Furthermore, this two-degree-of-freedom motor, using a magnetic screw structure, not only offers high output but also reduces friction, making it a motor that can contribute not only to downsizing robots but also to energy conservation.

Motors and actuators are used in various products, not only in robots but also in industrial machines and household appliances. If you have any concerns or issues related to motors and actuators, please feel free to consult with us.

Two-degree-of-freedom motor prototype

Analysis of human motion through bilateral control systems (teleoperated robots)

In order to automate human actions using robots, it is necessary to record and analyze those actions. One of the effective methods for recording and analyzing human motions is through a type of teleoperation robot known as a bilateral control system. Currently, we are developing a bilateral control system for a highly skilled process known as a metal spinning process, and recording/analyzing force application and tool movement during the machining process.

Bilateral control system for metal spinning

Research on force control of parallel link robots

The bilateral control system, which simultaneously realizes position control and force control, allows the operator to feel the sensation through the leader system when the follower system comes into contact with the environment. In the bilateral control system designed for the metal spinning process, which consists of parallel links, real-time forward kinematics calculations are necessary to achieve the force control. However, deriving the forward kinematics for parallel link robots is generally impossible. Therefore, by combining the fields of robotics, control engineering, and AI, we aim to solve the forward kinematics problem for parallel link robots.