The 16th IFToMM World Congress (WC2023)

Committee Member
Scientific committee
KECSKEMETHY, Andres

University of Duisburg-Essen

Germany

VIADERO RUEDA, Fernando

Universidad de Cantabria

Spain

LOVASZ, Erwin-Christian

University Polytechnica of Timisoara

Romania

MULLER, Andreas Johannes

Kepler Universitat

Austria

CAN DEDE, Mehmet Ismet

Izmir Institute of Technology

TurkeyGHOSAL, Ashitava

Indian Institute of Science

India

JAUREGUI CORREA, Juan Carlos Autonomous University of Queretaro

Mexico

McCARTHY, John Michael

University of California, Irvine

USA

TAKEDA, Yukio

Tokyo Institute of Technology

Japan

ZHANG, Xianmin

South China University of Technology

China

CECCARELLI, Marco

University of Rome Tor Vergata

Italy

GASPARETTO, Alessandro

Universita’ di Udine

Italy

BRIX, Thorsten

Technische Universitat Ilmenau

Germany

CASTEJON, Cristina

University Carlos III of Madrid

Spain

FERRARESI, Carlo

Politecnico di Torino

Italy

VAN DER WIJK, Volkert

Delft University of Technology

The Netherlands

PARIKYAN, Tigran

AVL List GmbH

Austria

SCHAFER, Frank Helmut

Hamburg University of Applied Sciences

GermanyPETUYA, Victor

University of the Basque Country

Spain

ZENTNER, Lena

Technische Universitat Ilmenau

Germany

FONT LLAGUNES, Josep Maria

Universitat Politecnica de Catalunya

Spain

ZUROWSKI, Wojciech

Univ. of Technology and Humanities Radom Poland

CARBONE, Giuseppe

University of Calabria

Italy

CAVALCA, Katia Lucchesi

Universidade Estadual de Campinas

BrazilQUAGLIA, Giuseppe

Politecnico di Torino

Italy

VANTSEVICH, VladimirWorcester Polytechnic InstituteUSA

CIULLI, Enrico

University of Pisa

Italy

CHONDROS, Thomas

University of Patras

Greece

UHL, Tadeusz

University of Science and Technology AG

PolandIWATSUKI, Nobuyuki

Tokyo Institute of Technology

Japan

TAKEMURA, Kenjiro

Keio University

Japan

NAKAMURA, Yoshihiko

The University of TokyoJapan

Organizing committee
Honorary Co-Chairmen:
NAKAMURA, Yoshihiko

The University of TokyoJapan

FUNABASHI, Hiroaki

Tokyo Institute of Technology

Japan

YOSHIMOTO, Kenichi

The University of TokyoJapan

IWATSUKI, Nobuyuki

Tokyo Institute of Technology

Japan

TAKEMURA, Kenjiro

Keio University

Japan

VENTURE, Gentiane

The University of TokyoJapan

HASHIMOTO, Kenji

Waseda University

Japan

ISHII, Hiroyuki

Waseda University

Japan

SASAKI, Ken

The University of TokyoJapan

MATSUMOTO, Akihiro

Toyo University

Japan

General Co-Chairmen:

Secretariat:

Treasure:

Paper submission and review:
TAKEMURA, Kenjiro

Keio University

Japan

TAKANO, Wataru

Osaka University

Japan

YAMAMOTO, Ko

The University of TokyoJapan

KAWASAKI, Kazumasa

Sanjo City University

Japan

TAKANISHI, Atsuo

Waseda University

Japan

SUZUMORI, Koichi

Tokyo Institute of Technology

Japan

KIGUCHI, Kazuo

Kyushu University

Japan

KOBAYASHI, Etsuko

The University of TokyoJapan

OKADA, Masafumi

Tokyo Institute of Technology

Japan

YONEDA, Kan

Chiba Institute of Technology

Japan

OISHI, Hisami

Kogakuin University

Japan

CORVES, Burkhard

RWTH Aachen University

Germany

CHEN, I-Ming

Nanyang Technological University

SingaporeZIELINSKA, Teresa

Warsaw University of Technology

PolandCOSTA, Henara

Universidade Federal do Rio Grande

BrazilKUO, Chin-Hsing

University of Wollongong

Australia

SUGAHARA, Yusuke

Tokyo Institute of Technology

Japan

YASHIMA, Masato

National Defense Academy

Japan

MING, Aigou

University of Electro-Communications

Japan

Invited sessions:

Program:

Conference site:

ENDO, Mitsuru

Tokyo Institute of Technology

Japan

KAMEZAKI, Mitsuhiro

Waseda University

Japan

YAMANAKA, Hitoshi

National Institute of Technology, Numazu College

Japan

KIMURA, Naoto

Hakusan CorporationJapan

HOUJOH, Haruo

Tokyo Institute of Technology

Japan

ONISHI, Kengo

Tokyo Denki University

Japan

TANAKA, Eiichiro

Waseda University

Japan

MATSUMURA, Shigeki

Tokyo Institute of Technology

Japan

IKEHARA, Tadaaki

Shonan Institute of Technology

Japan

KOMORI, Masaharu

Kyoto University

Japan

KONNO, Atsushi

Hokkaido University

Japan

OIWA, Takaaki

Shizuoka University

Japan

NANGO, Jun

Yamagata University

Japan

TAKEDA, Yukio

Tokyo Institute of Technology

Japan

SOLIS, Jorge

Karlstads University

SwedenYAMAMOTO, Akio

The University of TokyoJapan

MATSUHIRA, Nobuto

Shibaura Institute of Technology

Japan

MIYAGAWA, Toyomi

Nippon Institute of Technology

Japan

TAKANOBU, Hideaki

Kogakuin University

Japan

TERADA, Hidetsugu

Yamanashi University

Japan

UMEZU, Shinjiro

Waseda University

Japan

KIMURA, Hitoshi

Tamagawa University

Japan

KAI, Yoshihiro

Tokai University

Japan

HARADA, Takashi

Kindai University

Japan

FUJIWARA, Hiroyuki

National Defense Academy

Japan

MATSUMOTO, Hiroyuki

Institute of Technologists

Japan

MATSUURA, DaisukeTokyo Institute of Technology

Japan

MIURA, Satoshi

Tokyo Institute of Technology

Japan

IKEDA, Ikuma

National Institute of Technology, Ishikawa College

Japan

Banquet:Award:EC relation:

Sponsors’ exhibition:

Optional tours:

Tutorial:

WEB site:

The 16th IFToMM World Congress (WC2023)

Sponsors
Platinum Sponsors
THK CO., LTD.

Gold Sponsors
OMRON Corporation
FANUC CORPORATION
Hakusan Corporation

Silver Sponsors
Komatsu Ltd.
KATO TECH CO., LTD.
JTEKT CORPORATION
KAJIMA CORPORATION
Kawasaki Heavy Industries, Ltd.
Mazda Motor Corporation
NSK Ltd.

Sponsors
Artner Co., Ltd.
Techno Dynamics Inc.
Dassault Systèmes SolidWorks Corporation

The 16th IFToMM World Congress (WC2023)

Tutorial
Nov. 5, 2023
Lateral and torsional rotor dynamics in electromechanical applications
9:30-15:30, 42F Musashi
Simulation of Dynamics and Vibrations in Engines and Powertrains
9:00-11:00, 42F Takao
Mechanisms for Sustainable Energy Systems
9:00-11:00, 42F Tama
Machine Learning Driven Robot Motion Design and Implementation in a Web-based
Mechanism Design Software
13:00-16:00, 42F Takao
Tribology
13:00-15:00, 42F Tama

The 16th IFToMM World Congress (WC2023)

Schedule
At a glanceNov. 6, 2023
Keynote 10:00-11:00
Challenges in Tribology and Future Prospects
Prof. Dae-Eun Kim (Yonsei University, Korea)
Keynote 11:20-12:20
Smart Mobility Changed by 5G/6G
Prof. Kei Sakaguchi (Tokyo Institute of Technology, Japan)
Session 6A1 13:20-15:00
Session 6A2 15:20-17:00

Nov. 7, 2023
Session 7M1 9:00-10:40
Keynote 11:20-12:20
Opportunities and Challenges in Adopting Electro-fuels for Sustainable Transport
Prof. Avinash Kumar Agarwal (Indian Institute of Technology Kanpur, India)
Keynote 13:20-14:20
Advances and Challenges for Task and Motion Planning: from Robotic Manipulators toIntelligent CAD to Analyzing Proteins
Prof. Nancy M. Amato (University of Illinois at Urbana-Chapaign, USA)
Session 7A1 15:00-16:20
Session 7A2 16:40-18:00

Nov.8, 2023
Special talk 11:30-12:10
IFToMMists: who we are
Prof. Marco Ceccarelli (University of Roma Tor Vergata, Italy)
Session 8A1 13:20-15:00
Session 8A2 15:20-17:00

Nov.9, 2023
Session 9M1 9:00-10:40
Session 9M2 11:00-12:40

The 16th IFToMM World Congress (WC2023)

Session Program5F Eminence Hall

42F Fuji

42F Takao

42F Tama

42F Musashi

42F Mitake

42F Tsukui

42F Sagami

43F Starlight

43F Moonlight

43FComet

43F Subaru

43F Orion

8:00

9:00

11:00

Executive
Council
Meeting
8:30-17:00

12:00
13:00

Nov. 5
15:00

16:00

TUTORIAL

TUTORIAL

Simulation of
Dynamics andVibrations in Engines
and Powertrains
9:00-11:00

Mechanisms for
Sustainable Energy
Systems
9:00-11:00

TUTORIAL

TUTORIAL

Machine Learning
Driven Robot Motion
Design and
Implementation in a
Web-based
Mechanism Design
Software
13:00-16:00

Tribology
13:00-15:00

TUTORIAL
Lateral and torsionalrotordynamics inelectromechanicalapplications
9:30-15:30

17:00
18:00

Welcome Reception
5F Eminence Hall
20:00
9:30

Opening Ceremony 5F Eminence Hall

10:00

Keynote: Challenges in Tribology and Future Prospects
Prof. Dae-Eun Kim (Yonsei University, Korea)
5F Eminence Hall

11:00

Coffee Break
11:20

Keynote: Smart Mobility Changed by 5G/6G
Prof. Kei Sakaguchi (Tokyo Institute of Technology, Japan)
5F Eminence Hall

12:20

Nov. 613:20

6A1

Linkages andMechanicalControls(1)Computational
Kinematics
Computational Biomechanical(1)
Kinematics
Engineering(2)(1)

Gearing andTransmissions(1)

Robotics andMechatronics(1)

Robotics andMechatronics(2)

Robotics andMechatronics(3)

Robotics andMechatronics(5)

Robotics andMechatronics(6)

Education in Computational Computational Biomechanical
Robotics andEngineering
Kinematics
Mechatronics Mechanism and Kinematics
Machine
(2)
(3)
(4)
(7)
Science(1)

Gearing andTransmissions(2)

Multibody
Dynamics(2)

Robotics andMechatronics(8)

Robotics andMechatronics(9)

Education in Computational Computational Biomechanical Micromachines Gearing andRobotics andKinematics
Engineering
Transmissions
Mechatronics Mechanism and Kinematics
(3)
(5)
(6)
Machine(3)(10)
Science(2)

Multibody
Dynamics(3)

Robotics andMechatronics(4)

Sustainable
EnergySystems(1)

Multibody
Dynamics(1)

Engines andPowertrains
(1)

15:00

Coffee Break
Linkages andMechanicalControls
6A2
(2)
15:20

Sustainable
EnergySystems(2)

Engines andPowertrains
(2)

17:00
9:00

7M1

Linkages andMechanicalControls
(3)

10:40

Coffee Break
11:20

Keynote: Opportunities and Challenges in Adopting Electro-fuels for Sustainable Transport,
Prof. Avinash Kumar Agarwal (Indian Institute of Technology Kanpur, India)
5F Eminence Hall

12:20
13:20

Keynote: Advances and Challenges for Task and Motion Planning: from Robotic Manipulators to Intelligent CAD to Analyzing Proteins
Prof. Nancy M. Amato (University of Illinois at Urbana-Chapaign, USA)
5F Eminence Hall

Nov. 7
14:20

Coffee Break
Linkages andMechanicalControls
7A1
(4)
15:00

Robotics andMechatronics(11)

Robotics andMechatronics(12)

Computational Computational
Robotics andHistory of
Mechatronics Mechanism and Kinematics
Kinematics
Biomechanical(13)(7)
Machine(8)
Engineering
Science(4)

Robotics andMechatronics(14)

Robotics andMechatronics(15)

Robotics andMechatronics(16)

Dynamics ofRotating
Machines (1)Gearing andTransmissions(4)

Multibody
Dynamics(4)

Tribology
(1)

16:20

Coffee Break
Linkages andMechanical
7A2 Controls (5)16:40

Computational BiomechanicalKinematics
Engineering(9)(5)

Reliability

Gearing andTransmissions
(5)

18:00
8:00

GeneralAssembly
8:00-11:30

11:30

Special talk: IFToMMists: who we are, Prof. Marco Ceccarelli (University of Roma Tor Vergata, Italy)
5F Eminence Hall

12:10
13:20

Linkages and
8A1 MechanicalControls(6)

Nov. 8

Robotics andMechatronics(17)

Robotics andMechatronics(18)

Robotics andMechatronics(19)

Robotics andMechatronics(20)

Robotics andMechatronics(21)

Robotics andMechatronics(22)

Computational Computational
Kinematics
Kinematics
Biomechanical
(10)
(11)
Engineering(6)

Dynamics ofRotating
Machines(2)

Transportation Computational Computational BiomechanicalEngineering
Machinery
Kinematics
Kinematics
(7)
(2)
(12)
(13)

Dynamics ofRotating
Machines(3)

Vibrations

43F Moonlight

43FComet

Transportation
Machinery(1)

Tribology(2)

Gearing andTransmissions
(6)

15:00

Coffee Break
Linkages andMechanicalControls
8A2
(7)
15:20

Tribology
(3)

17:00
18:00

Banquet
5F Concord Ballroom
21:00
9:00

9M1

Linkages andMechanicalControls(8)

Robotics andMechatronics(23)

Robotics andMechatronics(24)

Robotics andMechatronics(25)

Computational
Kinematics(14)

Robotics andMechatronics(26)

Robotics andMechatronics(27)

Robotics andMechatronics(28)

Computational
Kinematics
(15)

10:40
11:00

Nov. 99M2

Coffee Break
Linkages andMechanicalControls (9)

12:40
13:00

Closing / Farewell
5F Eminence Hall
14:00
5F Eminence Hall

42F Fuji

42F Takao

42F Tama

42F Musashi

42F Mitake

42F Tsukui

42F Sagami

43F Starlight

43F Subaru

43F Orion

Nov. 6, Session 6A1, 13:20-15:00
Room1, Eminence Hall (5F)
6A1 -011
N/A

Chair: Chin-Hsing Kuo

Linkages and Mechanical Controls (1)6A1 -012 Atlas-Based Path Synthesis of Planar Four-bar Linkages Using Elliptical Fourier Descriptors
13:40
Yuan Chang, Jia-Ling Chang, Jyh-Jone Lee
6A1 -013 Planar overconstrained mechanisms of the linkage and compliant type
14:00
Petru A. Simionescu
6A1 -014 Design of Walking Rehabilitation Device using Planar Link Mechanism and Pneumatic Rubber Artificial Muscle
14:20
Jun Nango, Kotaro ENDO, Shota YAMAGUCHI, Takumi SATO, Hiroki Tomori
6A1 -015 Conceptional Design and Static Calculation of 1-DOF Lifting Platform Mechanism
14:40
Zhongqiu Du, Jinshi Liu, Li Guoliang Li Guoliang, Huiping Shen
Room2, Takao (42F)
Chair: Giuseppe Carbone
6A1 -021 A Novel Adaptive Prosthetic Finger Design with Scalability
13:20
Shao Liu, Jorge Angeles, Chao Chen
6A1 -022 Design optimization of a tendon-driven continuum robot
13:40
Matteo Russo, Elie Gautreau, Amine Laribi
6A1 -023 Characterization of Dielectric Elastomers by Finite Element Analysis
14:00
Tao Li, Jinbo Mei, Fan Zhang, marco Ceccarelli
6A1 -024 Motion Analysis and Control of a Flexible Spatial Closed-loop Mechanism Made of a Certain Thin Elastic Plate
14:20
Nobuyuki Iwatsuki, Eiki Sawada, Jyun Igarashi, Ikuma Ikeda
6A1 -025 A mixed direct/indirect method for generating energy-efficient motion laws for an inverted pendulum
14:40
Domenico Dona', Basilio Lenzo, Paolo Boscariol, Giulio Rosati

Robotics and Mechatronics (1)Room3, Tama (42F)
Chair: Shaoping Bai
6A1 -031 Design of an Adaptive Anthropomorphic Finger with Modular Soft Actuators
13:20
Sheng Guan Lin, Jen-Yuan Chang
6A1 -032 Motion Characteristics Analysis of a Mecanum-Wheeled Omnidirectional Mobile Robot on a Slope
13:40
Tatsuro Terakawa, Mahiro Yogou, Masaharu Komori
6A1 -033 Adaptive path planning for plume detection with an underwater glider
14:00
ZEFENG BAO, YUNFENG LI, XUSONG SHAO, ZHILIANG WU, QUNZHI LI
6A1 -034 Design and Evaluation of A Novel Passive Shoulder Exoskeleton Based on VSM Torque Generator
14:20
Yu Zhu, Felix Balser, Ming Shen, shaoping bai
6A1 -035 Impulse-Driven Traveling Capsule Endoscope
14:40
Chihiro Katsuta, Takahiro Ito, Sunao Murakami, Hiroshi Ohtake, Kaoru Karasawa, Akane Tanaka, Toshihiro Kimura, Hiromu Kutsumi

Robotics and Mechatronics (2)Room4, Musashi (42F)
Chair: Med Amine Laribi
6A1 -041 Kinematic Design and Analysis of a Wearable End-Effector Type Upper Limb Assistive Robot
13:20
Ryohei Morita, Ming Jiang, Andrea Botta, Yusuke Sugahara, Giuseppe Quaglia, marco Ceccarelli, Yukio Takeda
6A1 -042 Analysis of the obstacle-crossing capability for a coupled parallelogram leg
13:40
Junpeng Chen, Yang Pan, Mi Li, Renjie Zhu, Meng Gao, Kun Wang, Xinyu Xiao, Lizi Deng, Dai Jian Sheng
6A1 -043 Design of Expanding Segments Utilizing Developable Mechanisms in Continuum Robots
14:00
Muhammad Umer Khan Niazi, Usman Mehmood, Jaesoon Choi, Youngjin Moon
6A1 -044 Dual-arm Constrained Manipulation Planning using Heuristic Search with Local Replanning
14:20
Audelia Gumarus Dharmawan, Gim Song Soh
6A1 -045 Unfolded Paper Manipulation by a Robot Hand Using High-speed Image Processing
14:40
Hideto Okura, Shunsuke Komizunai, Taku Senoo, Atushi Konno

Robotics and Mechatronics (3)Room5, Mitake (42F)
6A1 -051
N/A

Robotics and Mechatronics (4)Chair: Daniela Maffiodo

6A1 -052 Proposal of a Mechanical Brake for Assist Suits Considering Safety and Energy Consumption
13:40
Yoshihiro Kai, Peiran Niu, Zixin Lin, Ryoto Nagata, Shoichi Hasegawa
6A1 -053 Introduction of the Agonist-Antagonist Elasticity Around the Knee Joint of a Bio-inspired Legged Robot
14:00
Oscar Alam Guzman-Medrano
6A1 -054 Semi Automatic Experimental System using Some Portable Robot Arms Collaborating with a Human
14:20
Koji Makino, Kazuyoshi Ishida, Xiao Sun, Hidetsugu Terada
6A1 -055 Efficient walking of the quadruped using passive linear spring
14:40
Pramod Pal, Shishir Kolathaya, Ashitava GhosalRoom6, Tsukui (42F)
Chair: Volkert van der Wijk
6A1 -061 Design of a three-chain 6-DOF symmetrical parallel mechanism and solutions of its forward and inverse kinematics
13:20
Zhongqiu Du, Ju Li, haitao liu, Yinan Zhao, Huiping Shen
6A1 -062 Position Analysis of a Novel Family of three-legged 6-DOF Parallel Manipulators of type 3-XXRRU
13:40
Henrique Simas, Luan Meneghini, Raffaele Di Gregorio, Roberto Simoni
6A1 -063 Synthesis of an SMA-actuated adjustable-magnitude compliant constant-force mechanism
14:00
Hao Xu, Xianmin Zhang, Rixin Wang, Junwen Liang, Junjie Du
6A1 -064 A Novel Semi-analytical Algorithm for Forward Kinematics of 6-DOF Parallel Mechanisms
14:20
Pengda Ye, jingjing You, Huiping Shen
6A1 -065 Error parameters identification of a multi-DOF redundant parallel mechanism with joint clearances
14:40
Chendong Zeng, Zhi-cheng Qiu, Xian-min Zhang

Computational Kinematics (1)Room7, Sagami (42F)
6A1 -071
N/A

Chair: Marco Carricato

Computational Kinematics (2)6A1 -072 Topology optimization of a hybrid compliant gripper
13:40
Shuhao Xia, Nianfeng Wang, Xianmin Zhang
6A1 -073 Preliminary study on the applicability of parallel processing with Graphic Processing Units (GPU) for mechanism dynamics: The planar 4-bar case
14:00
Louis Guigon, Benjamin Boudon, Andres Kecskemethy
6A1 -074 Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation
14:20
Térence Essomba, Wen-Hsin Wang
6A1 -075 Improving the Accuracy of Cable-Driven Parallel Robots through Model Optimization and Machine-Learning
14:40
Marc Fabritius, Kraus, Andreas PottRoom8, Starlight (43F)
6A1 -081
N/A

Chair: Laura Gastaldi

Biomechanical Engineering (1)6A1 -082 Dynamic Model of a Macro Fiber Composite-Actuated Bio-inspired Robotic System
13:40
Maíra Martins da Silva, Arthur Silva Barbosa, Leopoldo Pisanelli Rodrigues de Oliveira
6A1 -083 A Low-Cost System Concept for Initial Sonography Training
14:00
Mykhailo Riabtsev, Med Amine Laribi, Eduardo Castillo, Jean-Michel Guilhem, Victor Petuya, Monica Urizar Arana, Said Zeghloul
6A1 -084 Investigating the Impact of Multiple Tasks on the Estimation of Non-identifiable Muscle Parameters in Musculoskeletal Models : a preliminary study
14:20
Yi-Hsuan Lin, Kuei-Yuan Chan
6A1 -085 Development of Walking Assistance Devices Considering the Users’ Psychological and Physical Status
14:40
Eiichiro Tanaka, Keisuke Osawa, Jyun-Rong Zhuang, Xiuyuan Wu, Yifan Hua, Kei Nakagawa, Hee-hyol Lee, Louis Yuge
Room9, Moonlight (43F)
6A1 -091
N/A

Chair: Moldovan Macedon

Sustainable Energy Systems (1)6A1 -092 Energy and exergy analysis of a roof-mounted photovoltaic system in Gebze-Turkey
13:40
Seyed Hamed Pour Rahmati Khalejan, Tolga Cankurt, Can Dede
6A1 -093 Towards Sustainable Forest Operations: Optimal Kinematic Design of a Forwarder Crane
14:00
Omar Mendoza Trejo, Erick A. Padilla-García, Daniel Ortiz Morales, Ola Lindroos, Pedro La Hera
6A1 -094 Design and Prototyping of BiSoft.Q, a 3-D Printed Bi-directional Deformable Actuator
14:20
Giovanni Colucci, Simone Duretto, Giuseppe Quaglia
6A1 -095 A Fully Enclosed Multi-mode Wave Energy Converter Based on Cable Parallel Mechanism
14:40
Xinrui Lu, Yuan Chen
Room10, Comet (43F)
Chair: Yaping Zhao
6A1 -101 Creation of an Adaptive Gear Variator (Stepless CVT) and Study of Its Quality Indicators
13:20
Konstantin Ivanov
6A1 -102 Tooth profile design theory of asymmetrical involute cylindrical worm in face worm gear drive
13:40
Yaping Zhao, Yaoting Yu
6A1 -103 Design of Reconfigurable Actuation in Tendon-Driven Robot Hands: Analysis of Potential and Challenges
14:00
Daniel Gossen, David Bosen, Burkhard CORVES, Mathias Hüsing, Thomas Knobloch
6A1 -104 Design and Efficiency Analysis of 3K Paradox Planetary Gear Drives
14:20
Qi-You Zhuang, Shyi-Jeng Tsai
6A1 -105 Gear tooth topology modification with considering honing wheel dressing in power gear honing
14:40
Quoc-Duy Nguyen, Yu-Ren Wu
Room11, Subaru (43F)
6A1 -111
N/A

Chair: Andres Kecskemethy

Gearing and Transmissions (1)Multibody Dynamics (1)6A1 -112 Optimal Design and Landing Simulation of an Asteroid Probe with Variable Stiffness Legs
13:40
Shiming Zhou, Haoran Yu, Yang Dong, Jianzhong Ding, Chunjie Wang
6A1 -113 Dynamics Modeling of A Three-Drive Eccentric Pendulum Spherical Robot
14:00
Minggang Li, Hanxu Sun, Long Ma
6A1 -114 Nonsmooth Dynamics Modeling of Spatial Multibody Systems with Spherical Clearance Joints on the Special Euclidean Group
14:20
Long Li, Xilun Ding, Shengnan Lyu
6A1 -115 A Systematic Approach for Generating Efficient Inverse Dynamics of Moving Parallel Platforms: The Redundantly Actuated SO(3) Case
14:40
Chiyu Sun, Andres Kecskemethy
Room12, Orion (43F)
6A1 -121
N/A
6A1 -122

Chair: Tigran Parikyan, Enrico Galvagno

Engines and Powertrains (1)N/A

6A1 -123 Electric Accessories for Hybrids and BEVs
14:00
Madhusudan Raghavan, Norman Bucknor, Neeraj Shidore
6A1 -124 Analysis of Dynamics and NVH of Electric Drive Unit using Frequency- and Time-Domain Solutions
14:20
Klaus-Dieter Bauer, Josef Haslinger, Bianka Zinkiewicz, Johannes Steiner, Franz Diwoky, Martin Sopouch, Christoph Schweiger, Guenter Offner, Tigran Parikyan
6A1 -125 Numerical Simulation and Emissions Performance of a Gasoline Compression Ignition Engine at High Idle and Low-Load Conditions
14:40
Krishnamoorthi M, Avinash Kumar Agarwal

Nov. 6, Session 6A2, 15:20-17:00
Room1, Eminence Hall (5F) Chair: Victor Petuya
Linkages and Mechanical Controls (2)6A2 -011 Function-based synthesis of combined mechanisms by clustering fine-grained function units in the form layer
15:20
Yu-Tong Li, Yu-Xin Wang
6A2 -012 A New Design Method for Thick-panel Origami
15:40
Rui Peng, Gregory Scott Chirikjian
6A2 -013 Analysis of Crank-Rocker Inflection Circle behavior at singularity poses
16:00
Pranjali Deole, PRASHANT SHIWALKAR, J.P. Modak, S.D. Moghe
6A2 -014 A Novel Mechanism for Rotational Variable Stiffness
16:20
Carl Nelson
6A2 -015
N/A

Room2, Takao (42F)
Chair: Renato Vidoni
6A2 -021 A Gyrostabilizer Test Setup with Vessel Motion Capability about its Metacenter
15:20
M. Rıza Bozelli, Berk Kurt, Can Dede
6A2 -022 Active Dynamic Balancing of Delta Robots
15:40
Christian Mirz, Mathias Hüsing, Yukio Takeda, Burkhard CORVES
6A2 -023 Optimization of the Flywheel of a Gyrostabilizer by Addressing “Fair” Performance Criteria
16:00
Berk Kurt, M. Rıza Bozelli, Can Dede
6A2 -024 AI for Innovation Design of Tensegrity Mobile Robot
16:20
Xincui Shi, Qi Yang, Binbin Lian, Tao Sun
6A2 -025 Robust Position Control Through Variable Stiffness and Damping
16:40
Donghwi Shin, Minno Lee, Sangheon Roh, Taegyun Kim

Robotics and Mechatronics (5)Room3, Tama (42F)
Chair: Yusuke Sugahara, Kenji Hashimoto
6A2 -031 Design and characterization of a modular unit for a humanoid torso mechanism
15:20
Wenshuo Gao, Matteo Russo, marco Ceccarelli
6A2 -032 Stiffness Analysis of a Module-based Shape Morphing Snake-like Robot
15:40
Alessandro Cammarata, Pietro Davide Maddio, Rosario Sinatra, Yingzhong Tian, Yinjun Zhao, Fengfeng Xi
6A2 -033 Compact expressions of the singularity locus of optimal cable-suspended robots
16:00
Pascal Dion-Gauvin, Clément Gosselin
6A2 -034 Design and multi-objective optimization for a novel 7 DOF inchworm-like robot
16:20
minglei zhu, Yaning Du, Min Xie, Jun Qi
6A2 -035 Human-Robot Collaboration Based on Robot Motion Planning with Adaptive Obstacle Avoidance
16:40
Hao Jian Eugene Tong, Brijesh Patel, Yan-Cen Lin, Zhi-Lin Zhang, Chao-Yi Lin, Chao-Lung Yang, Ching-Yuan Chang, Po Ting Lin

Robotics and Mechatronics (6)Room4, Musashi (42F)
Chair: Sandipan Bandyopadhyay
Robotics and Mechatronics (7)6A2 -041 Steering transparency control of a wheelchair assistive device based on state estimator approach
15:20
Valerio Cornagliotto, Michele Polito, Laura Gastaldi, Stefano Pastorelli
6A2 -042 Experimental investigation of an assistive device for ankle motion using dummy robot
15:40
Takamaru Saito, Ming Jiang, Yusuke Sugahara, marco Ceccarelli, Yukio Takeda
6A2 -043 Fully End-to-End Visual Odometry of a Minidrone
16:00
UTKARSH VATS, Shital S. Chiddarwar, Araveti Vinay
6A2 -044 Disturbance propagation mitigation between a deployable miniature surgical robot and its insertion device
16:20
Yukiko Tomooka, Murali Karnam, Manuela Eugster, Philippe C. Cattin, Georg Rauter
6A2 -045 Tactile determination of the instantaneous screw axis of a human knee surrogate by a force-controlled robot using a Krylov method
16:40
Alexander Hoffmann, Patrick Jendro, Andrés Kecskeméthy
Room5, Mitake (42F)
Chair: Cristina Castejon
Education in Mechanism and Machine Science (1)6A2 -051 IDLE DEGREES OF FREEDOM AND EQUIVALENT MECHANISMS IN THE STUDY TOPIC OF STRUCTURAL ANALYSIS
15:20
Eduard Krylov, Dmitrii Krylov, Sergey Deviaterikov, Roman Yurtikov
6A2 -052 Behavior Control of Drone Triggered by Object Detection
15:40
Mao Sekino, Satoshi Miura, Daisuke Matsuura, Harutake Nagai, Rikuya Fujimoto, Sogo Ito, Wataru Nakamura, Iori Tsuta, Toru Yagi
6A2 -053 Reasoning about Perspectives in Mechatronic Engineering Education
16:00
Pietro Fanghella, Luca Bruzzone, Matteo Verotti
6A2 -054 Practices to Prototype Planar Link Mechanisms with 1 DOF for Elementary School, Junior High School and High School Students- A Leg Mechanism for Biped Walking Machines and a Dancing Mechanism –16:20
Nobuyuki Iwatsuki
6A2 -055 Survey of Graphic Softwares for teaching Mechanism Synthesis using Path Curvature Theory
16:40
Mohan Nagrurkar, P. S. Deole, Prashant Shiwalkar
Room6, Tsukui (42F)
Chair: Lionel Birglen
6A2 -061 A Novel Deployable Truss Grasping Manipulator with Adjustable Knuckle Length and Bilateral Curvature
15:20
Qizhi Meng, Zheng Qiu, Ruijie Tang, Fugui Xie, Xin-Jun Liu
6A2 -062 Structural Design and Static Analysis of a Cable-driven Underactuated Manipulator with Locking Devices
15:40
Ruijie Tang, Qizhi Meng, Fugui Xie, Xin-Jun Liu, Jinsong Wang
6A2 -063 Modeling and Design of a Bilaterally Statically Balanced Passive Exoskeleton
16:00
André W. D. B. Victorette, Henrique Simas, Rodrigo de Souza Vieira, Esdras Salgado da Silva, Daniel Martins
6A2 -064 On the Construction of Kinematic Confidence Ellipsoids for Uncertain Spatial Displacements
16:20
Zihan Yu, Qiaode Ge, Mark Langer, Mona Arbab
6A2 -065
N/A

Computational Kinematics (3)Room7, Sagami (42F)
Chair: Manfred Husty
6A2 -071 Genetic-algorithm-based pose design for soft magnetic origami robots
15:20
Chaoyu Cui, Benliang Zhu, Rongzhou Lin, Junjie Du, Xianmin Zhang
6A2 -072 On Ellipse Intersections by Means of Distance Geometry
15:40
Bertold Bongardt, Federico Thomas
6A2 -073 Representations of Higher-Order Kinematics with Hypercomplex Commutative Nilpotent Algebra
16:00
Daniel Condurache, Doina PISLA
6A2 -074 Dynamics of tensegrity structure with beams
16:20
Jian Song, Heping Liu, ANI LUO
6A2 -075
N/A

Computational Kinematics (4)Room8, Starlight (43F)
Chair: Laura Gastaldi
Biomechanical Engineering (2)6A2 -081 Development of a Motion-Decoupled Exoskeleton Finger for Hand Rehabilitation Utilizing Double Arc-Slot and Four-Bar Mechanism
15:20
Chen Zhi-Yong, Jen-Yuan Chang
6A2 -082 Wearable Passive Cable-Driven Wrist Rehabilitation Robot: Design and Preliminary Experiments
15:40
Andrea Botta, Giuseppe Quaglia, Yukio Takeda
6A2 -083 Customization of 3D-printed hinged ankle-foot orthosis based on kinematic evaluation from motion capture
16:00
Carlo De Benedictis, Maria Paterna, Alessia Dipalma, Martina Piazzolla, Daniela Maffiodo, Walter Franco, Carlo Ferraresi
6A2 -084 Development of the Classification System for Surgical Skills in Endoscopic Sinus Surgery
16:20
6A2 -085

Kaito Yamada, Masanobu Suzuki, Kou Miyaji, Koki Ebina, Kazuya Sase, Teppei Tsujita, Xiaoshuai Chen, Takashige Abe, Shunsuke Komizunai, Yuji Nakamaru, Taku
Senoo, Akihiro Homma, Atsushi Konno

N/A

Room9, Moonlight (43F)
Chair: Quaglia Giuseppe
Sustainable Energy Systems (2)6A2 -091 Sustainable Product Development through the Interdisciplinary Study Programme Engineering of Renewable Energy Systems
15:20
Macedon MOLDOVAN, Ion VISA
6A2 -092 Considerations on motion energy consumption for autonomous robots
15:40
Rocco Galati, Giacomo Mantriota, Giulio Reina
6A2 -093 Dynamic modeling and simulation of a counter-rotating wind system with 1-DOF planetary speed increaser
16:00
Mircea Neagoe, Codruta Ileana Jaliu, Radu Gabriel Saulescu
6A2 -094 "Kamirobo": A transdisciplinary research towards more sustainable robots
16:20
Gentiane Venture, Yasutaka Tagawa, Ryota Kose, Chihiro Kayo, Itsuo Hanasaki
6A2 -095
N/A

Room10, Comet (43F)
Chair: Yaping Zha
6A2 -101 Face-Milling cutting Simulation of Bevel Gears Using Ring-Dexel Method
15:20
Yi-Pei Shih, Bor-Tyng Sheen, Chuan-Feng Ting, Wen-Chien Chang, Jia-Liang Hong
6A2 -102 Tooth profile calculation of a cylindrical gear pair to achieve a non-constant ratio
15:40
Taiki Suwa, Daisuke Matsuura, Tsune Kobayashi
6A2 -103 Effect of Operating Parameters on the Tribological Characteristics of 3D Printed Textured Journal Bearings
16:00
Vishal Mourya, Skylab P. Bhore
6A2 -104 Time-dependent errors influence on the transmission error in planetary gears with different mesh phasing
16:20
Javier Sanchez-Espiga, Marius Fürst, Alfonso Fernandez-del-Rincon, Michael Otto, Fernando Viadero, Karsten Stahl
6A2 -105
N/A

Room11, Subaru (43F)
Chair: Takashi Harada
6A2 -111 Experimental analysis and multibody simulation of electric kick scooter braking maneuver
15:20
Angelo Domenico Vella, Elisa Digo, Alessandro Vigliani
6A2 -112 Explicit higher-order integrator for Multibody Dynamics
15:40
Gorka Urkullu, Igor Fernández de Bustos, Ibai Coria, Haritz Uriarte
6A2 -113 Implementation of the crane vessel interactive control using the constraint-based flexible cable with a variable length
16:00
Oleg Makarov, Hayato Yase, Takashi Harada
6A2 -114 On Actual Motion of Planar Closed-Chain Five-Bar Underactuated Mechanism at Given Position
16:20
jin xie, ZHAOHUI LIU
6A2 -115
N/A

Gearing and Transmissions (2)Multibody Dynamics (2)Room12, Orion (43F)
Chair: Tigra Parikyan, Madhusudan Raghavan
Engines and Powertrains (2)6A2 -121 Hybrid electric vehicle platoon control and optimal energy management system for fuel economy, safety, and dynamic performance
15:20
Enrico Galvagno, Luciano Rolando, Luca Pulvirenti, Luca Zerbato, Luigi Tresca
6A2 -122 Task-Based Conceptual and Physical Design of a Gear Chamfering Mechanism
15:40
Hrayr Darbinyan
6A2 -123 Comparative Combustion Characteristics of a Dimethyl Ether (DME) and Diesel Fueled Engines
16:00
Shanti Mehra, Hardik Valera, Vikram Kumar, Avinash Kumar Agarwal
6A2 -124
N/A
6A2 -125

N/A

Nov. 7, Session 7M1, 9:00-10:40
Room1, Eminence Hall (5F)
7M1 -011
N/A

Linkages and Mechanical Controls (3)Chair: Burkhard Corves

7M1 -012 Four-Bar Function Generation Using Excel Solver
9:20
Eres Söylemez, Kiper Gokhan
7M1 -013 Anticipating application of Machine Learning techniques for effective synthesis of Straight-Line Crank Rocker
9:40
PRASHANT SHIWALKAR, J. P. MODAK, marco Ceccarelli
7M1 -014 Error analysis of a deployable scissor-like mechanism with joint clearances
10:00
Hang Xiao, Jianzhi Wang, Xilun Ding, Shengnan Lyu
7M1 -015 Studies on Synthesis of Symmetrical Coupler Curves having Ball’s Points
10:20
Rama Krishna K, Kripa Sanker Tripathi
Room2, Takao (42F)
7M1 -021
N/A

Robotics and Mechatronics (8)Chair: Giuseppe Quaglia

7M1 -022 Dynamics and computed torque control stability of an under-actuated tendon-driven manipulator
9:20
Nicolas Testard, Christine Chevallereau, Philippe Wenger
7M1 -023 A novel class of geared manipulators of the SCARA type
9:40
Petru A. Simionescu
7M1 -024 The Motion Suspension System – MSS: A Cable-Driven System for On-Ground Tests of Space Robots
Ferdinand Elhardt, Roland Boumann, Marco De Stefano, Robin Heidel, Patrik Lemmen, Martin Heumos, Christoph Jeziorek, Maximo Roa, Manfred Schedl, Tobias
Bruckmann
10:00
7M1 -025 Performance evaluation of a miniaturized leg-swing actuator using electrostatic zipping
10:20
Yusuke Seki, Shunsuke Yoshimoto, Akio Yamamoto

Room3, Tama (42F)
7M1 -031
N/A

Chair: Terence Essomba

Robotics and Mechatronics (9)7M1 -032 Physical Human-Robot Interaction Performance Optimization of an Exosuit for Assistance
9:20
Yaodong LU, Yannick Aoustin, Vigen Arakelyan
7M1 -033 Analysis and Design of a Suspended Сable-Driven Parallel Robot for Educational Process
9:40
Assylbek Jomartov, Amandyk Tuleshov, Aziz Kamal, Azizbek Abduraimov, Zair Ualiyev
7M1 -034 Analysis and Recognition of Human Postures for Robotic Applications
10:00
Teresa Zielinska
7M1 -035 Body Gesture Recognition for Collaborative Robots
10:20
Jorge Solis, Koyu Nakamori, Gustavo Alfonso Garcia Ricardez, Johan Håkansson
Room4, Musashi (42F)
7M1 -041
N/A

Chair: Daniele Cafolla

Robotics and Mechatronics (10)7M1 -042 Redundantly Actuated 5-DOF Delta-type Parallel Robot with Linear Drives
9:20
Pavel Laryushkin, Alexey Fomin, Victor Glazunov, Ilya Brem, Oxana Fomina
7M1 -043 Trajectory Tracking Control of 3-RPS Parallel Mechanism Based on Udwadia-Kalaba Equation
9:40
Duanling Li, Xiaoqin Yin, Yongkang Wei, J. M. McCarthy, Xianwen Kong
7M1 -044 Universal Configurable Navigation and Control System for Industrial Unmanned Ground Vehicles with Differential Chassis
10:00
Andrey Vukolov, George Kourousias, Francesco Guzzi, Roberto Pugliese
7M1 -045 An interactive collaborative robotic system to play Italian checkers
10:20
Giuliano Fabris, Lorenzo Scalera, Alessandro Gasparetto
Room5, Mitake (42F)
7M1 -051
N/A

Chair: Eduard Krylov

Education in Mechanism and Machine Science (2)7M1 -052 Multilevel dissemination of knowledge on machine diagnostics
9:20
CRISTINA CASTEJON SISAMON, M. Jesus Gomez-Garcia, Marta Zamorano, Higinio Rubio
7M1 -053 Design and Simulation of an Inspection Rover for the Survey of Historical and Monumental Sites
9:40
Erika Ottaviano, Pierluigi Rea, Lorenzo Miele, Andrea Palma
7M1 -054 Popularizing the Field of Mechanisms and Machine Theory through Student Projects: Preservation of the Petrovaradin Fortress Clocktower
Mechanism
10:00
Dijana Čavić, Srdjan Nikačević, Sonja Balać, Maja Čavić
7M1 -055 Virtual and Physical Components to Build Modular Robotic Arms for Effective Understanding of Denavit-Hartenberg (DH) Parameters
10:20
Manjunath Sakthivel, Ashwin S. Kumar, Gaurav Shankar, Rajeevlochana Chittawadigi
Room6, Tsukui (42F)
7M1 -061
N/A

Chair: Sandipan Bandyopadhyay

Computational Kinematics (5)7M1 -062 Kinetostatic Modeling of a 5-DOF Hybrid Robot Considering the Gravitational Effect
9:20
Wei Yue, haitao liu, Shaofei Meng, Yujie Bai, Guangxi Li, Yongbin Song
7M1 -063 Irregular-shaped Torsion Spring Design for Gravity Compensation in Linkage Systems: A Modified CPRBM Based Methodology
9:40
ZEXIN SHAN, Hiroshi Nakamura, Shimpei Tanaka, Mitsuru ENDO
7M1 -064 Design of a novel compact piezo-actuated 2-DOF nano-positioning stage using the five-bar displacement amplification mechanism
10:00
Jianhao Lai, Xianmin Zhang, Lei Yuan, Mingxiang Ling, Junwen Liang, Longhuan Yu, Benliang Zhu, Hai Li, Lixin Yang
7M1 -065 A Topology Optimization Method to Synthesize Geometrically Nonlinear Compliant Constant-Force Mechanisms
10:20
Chih-Hsing Liu, Ta-Lun Chen, Fu-Ming Chung, Mao-Cheng Hsu

Room7, Sagami (42F)
7M1 -071
N/A

Computational Kinematics (6)Chair: Pierre Larochelle

7M1 -072 Design and Validation of a 3-DoF Ungrounded Wrist Perturbator Based on an Inverted Spatial 4-RUU Parallel Mechanism
9:20
Robbert Koene, Jaap Meijaard, Winfred Mugge, V. Van der Wijk
7M1 -073 Comparison of Two 6-DOF Parallel Mechanisms Based on Kinematic Models
9:40
Hongye Wu, haitao liu, Wei Yue, Jiale HAN, Wei MA, junfu zhou, Cheng Hongfei
7M1 -074 A Novel Family of 2T2R Parallel Manipulators with Potential for Balance Rehabilitation
10:00
Paul Diego, Erik Macho, Saioa Herrero Villalibre, Javier Corral, Mikel Diez, Francisco J. Campa, Charles Pinto
7M1 -075 Metamorphic Cam Mechanism with a PR follower
10:20
Tung-Hsin Pan, Kuan-Lun Hsu
Room8, Starlight (43F)
7M1 -081
N/A

Chair: Daniela Maffiodo

Biomechanical Engineering (3)7M1 -082 Development of a Path-to-Follow Nozzle for Ultraviolet-Assisted Three-Dimensional Bioprinting Technology
9:20
Chao-Yaug Liao, Fang-Ru Shen, Shan-hui Hsu
7M1 -083 Finite Element Analysis of Contact Stresses in Knee -Prosthesis with Antero-Posterior Tibial Slope
9:40
Daniela Tarnita, Nicolae Dumitru, Dan Calafeteanu, Dan B. Marghitu, Ilie Dumitru, Ionut Daniel Geonea, Gabriela Marinache, Diana Prunoiu, Danut-Nicolae Tarnita
7M1 -084 Nordic Walking Simulation Research
10:00
Jacek Bałchanowski, Sławomir Wudarczyk, Artur Handke
7M1 -085 Development of Soft Gears Made of Edible Gummies for Self-Propelled Endoluminal Robot
10:20
Keisuke Osawa, Kaiwen Duan, Eiichiro Tanaka
Room9, Moonlight (43F)
7M1 -091
N/A

Micromachines

Chair: Lena Zentner

7M1 -092 Optimum Design of Compliant Nonlinear Torsional Springs Through Parametric Finite Element Analysis
9:20
Yotsathorn Napawan, Chin-Hsing Kuo, Buyung Kosasih
7M1 -093 An analytical approach for calculating the first natural frequency of flexure hinges with variable cross-sections
9:40
Vivien Platl, Lena Zentner
7M1 -094 A Compact Spatial Pose Adjustment Mechanism Driving by Stick-Slip
10:00
Aoyang li, Hai Li, Xianmin Zhang, Yuge Liu
7M1 -095 Analytical description of transversally symmetric hinges with semicircular contours
10:20
Hannes Jahn, Thomas Fröhlich, Lena Zentner
Room10, Comet (43F)
7M1 -101
N/A

Chair: Yaping Zha

Gearing and Transmissions (3)7M1 -102 Kinematic Characteristics Analysis of Gear Teeth in Harmonic Drive
9:20
Guocheng Zhou, Ran Xie, Heyu Liu, Yuhu Yang
7M1 -103 Load sharing in planetary transmissions affected by eccentricity and index errors in the sun
9:40
J. Sanchez-Espiga, A. Fernández-del-Rincón, M. Iglesias, A. De-Juan, P. García, F. Viadero
7M1 -104 Synthesis of Contact in Loaded Multi-Pair Gears with a Big Contact Ratio
10:00
Evgeniy Trubachev
7M1 -105 Effect of Wave Generator Misalignment on the Strain Wave Gear Hysteretic Behavior in a Rotary Electro-Mechanical Actuator
10:20
Roberto Guida, Antonio Carlo Bertolino, Andrea De Martin, Stefano Mauro, Massimo Sorli
Room11, Subaru (43F)
7M1 -111
N/A

Chair: Yu-Xin Wang, Anirvan DasGupta

7M1 -112 A Study on a Method for Maintaining Contact During Capture of Space Debris with an MR Damper
9:20
Ryogo Mizuno, Satoko Abiko, Teppei Tsujita
7M1 -113 Effects of kinematic parameters on PM’s motion stability at singular configurations
9:40
Yu-Tong Li, Yu-Xin Wang
7M1 -114 Coupled Dynamics of an Oscillator Moving in Contact with a Periodically Supported String on Foundation
10:00
Anirvan DasGupta
7M1 -115 Dynamic Stability Analysis of an Electric Rope Shovel
10:20
Souvik Basak, Anirvan DasGupta

Multibody Dynamics (3)Nov. 7, Session 7A1, 15:00-16:20
Room1, Eminence Hall (5F) Chair: Erwin Lovasz
Linkages and Mechanical Controls (4)7A1 -011 Triple cam mechanism for compensating drive torque
15:00
Miroslav Václavík, Petr Jirásko, Jan Bělík
7A1 -012 Design of a Mechanical Locking Hook with a Memory Mechanism for Carrying Robots in Nuclear Power Plant Decommissioning
15:20
Naoto Kimura, Shigeo Hirose
7A1 -013 Design, Mobility and Kinematic Analysis of a 4R1H Mechanism
15:40
Alexey Fomin, Anton Antonov, Victor Glazunov, Gleb Filippov
7A1 -014 An Isotropy Optimized Linkage Under-Actuated Finger
16:00
rany rizk
Room2, Takao (42F)
Chair: Burkhard Corves
Robotics and Mechatronics (11)7A1 -021 Optimal Synthesis and Experimental Validation of a Bio-inspired Variable Stiffness Universal Compliant Joint for Continuum Robots
15:00
Elie Gautreau, Xavier Bonnet, Amine Laribi
7A1 -022 Design and Optimization of A Novel Flexible Spherical-hinged Joint for Continuum Robots
15:20
Guoxin Li, Jingjun Yu, xu pei
7A1 -023 Design of an Industrial-Grade Leg for a Quadruped Robot
15:40
Bartomeu Costa Prats, Roberto Carta, Alba Perez Gracia, Carles Domenech Mestres
7A1 -024 Total Least Squares in-field Identification for MEMS-based Triaxial Accelerometers
16:00
Massimo Duchi, Federico Zaccaria, Sebastien Briot, Edoardo Idà
Room3, Tama (42F)
Chair: Mathias Hüsing
7A1 -031 Design of a hybrid suspended cable and thruster driven parallel robot using hexarotor
15:00
Yifan Feng, Yusuke Sugahara, Ming Jiang, Marco Ceccarelli, Yukio Takeda
7A1 -032 Demo Prototype of TORVEASTRO Robot and Its Testing
15:20
Jorge Enrique Araque Isidro, Daniele Cafolla, Matteo Russo, marco Ceccarelli
7A1 -033 Obtaining desired shapes of cable-driven continuum robots using general cable routing
15:40
Soumya Kanti Mahapatra, Ashitava Ghosal
7A1 -034 Stem detection using depth camera in red perilla farm
16:00
Seito Takeuchi, Shunsuke Komizunai, Taku Senoo, Atushi Konno

Robotics and Mechatronics (12)Room4, Musashi (42F)
Chair: Basilio Lenzo
Robotics and Mechatronics (13)
7A1 -041 Flexible hinge-based antenna pointing mechanism
15:00
Sachin Barthwal, Manish Trikha, Ashitava Ghosal
7A1 -042 Design of the Robust Force Controller based on Disturbance Observer and Reaction Force Observer using Coefficient Diagram Method
15:20
Han-Hao Tsai, Jen-Yuan Chang
7A1 -043 On the design of MoviWE.Q: an omnidirectional electric-powered wheelchair for indoor mobility
15:40
Luigi Tagliavini, Giuseppe Quaglia
7A1 -044 Machine Learning Aided Self-Calibration Schemes for Parallel Kinematic Manipulators
16:00
Yu-Jen Chiu, Wei-Hsuan Lin, Cheng-Kuo Sung, Syanala Jaya Prakash Reddy
Room5, Mitake (42F)
Chair: Alessandro Gasparetto
7A1 -051 Reconstruction of the Tea-serving Automaton in the Ancient Japanese Book “Karakuri Zui”
15:00
Cheng-En Chai, Ling-Ling Chen, Yu-Hsun Chen, Kuo-Hung Hsiao, Jian-Liang Lin, Hong-Sen Yan
7A1 -052 Evolution of rolling bearing technology
15:20
Higinio Rubio, Alejandro Bustos Caballero, CRISTINA CASTEJON SISAMON, Juan Carlos Garcia-Prada
7A1 -053 On the History of Early Automobile Suspension Systems
15:40
Petru A. Simionescu, Robert L. Norton
7A1 -054 Ferdinand Freudenstein’s Spatial Kinematics
16:00
Pierre Larochelle
Room6, Tsukui (42F)
Chair: Andreas Müller
7A1 -061 Parasitic Motions of a Delta Parallel Continuum Robot
15:00
Oscar Altuzarra, Monica Urizar, Alfonso Hernández, Enrique Amezua
7A1 -062 A Task Scheduling Method for Multi-robot Collaboration
15:20
Wanxin Wen, haitao liu, Yanbing Ni, Qingpo Xu, Yugeng Huang, Ye Wei, Zhongxia Xiang, Jinrong Wu
7A1 -063 An Overconstrained Vertical Darboux Mechanism
15:40
Martin Pfurner, Johannes Siegele
7A1 -064 Multiple solutions of direct kinematics of 3-RPR parallel manipulators
16:00
Manfred Husty

History of Mechanism and Machine Science

Computational Kinematics (7)Room7, Sagami (42F)
Chair: Chin-Hsing Kuo
7A1 -071 Isometrically deformable cones and cylinders carrying planar curves
15:00
Georg Nawratil
7A1 -072 Kinematic Analysis of a Biocompatible Lower Limb Model
15:20
Lionel Birglen, Clement Hely
7A1 -073 Structural-Parametric Synthesis of Path Generating Mechanisms
15:40
Zhumadil Baigunchekov, Med Amine Laribi, Carbone Giuseppe, ZHANG DONG, Rustem Kaiyrov
7A1 -074 Geometric Interpolation of Rigid Body Motions
16:00
Andreas Mueller

Computational Kinematics (8)Room8, Starlight (43F)
7A1 -081
N/A

Biomechanical Engineering (4)Chair: Med Amine Laribi

7A1 -082 Design Optimization of RAISE Parallel Robot for Lower Limb Rehabilitation
15:20
Andrei Caprariu, Paul Tucan, Calin Vaida, Adrian Pisla, Bogdan Gherman, Doina PISLA
7A1 -083 Development of surgical simulator providing force feedback from organs
15:40
Ryo Sekine, Satoshi Miura
7A1 -084 Soft robot for Cell Culture with Multi-directional Mechanical Stretches
16:00
Atsushi Takata, Takayoshi Kamada, Yuta Kurashina
Room9, Moonlight (43F)
7A1 -091
N/A

Chair: Paolo Pennacchi, Jaroslav Zapoměl

Dynamics of Rotating Machines (1)7A1 -092 The Sommerfeld Effect in a Non-ideal Anisotropic Gyroscopic Rotor System and the Effect of Nonlinear Damping
15:20
Zharilkassin Iskakov, Aziz Kamal, Azizbek Abduraimov, Bolat Makhmutov
7A1 -093 Analysis of Levitated Flywheels Mounted in Superconducting Bearings
15:40
Jaroslav Zapoměl, Jan Koláček, Jan Kozánek, Jan Košina
7A1 -094 Prediction of Instability in Rotating Shaft System with Casing by Operational Modal Analysis
16:00
Daiki Goto, Tsuyoshi Inoue, Shogo Kimura, Akira Heya, Shinsaku Nakamura, Yusuke Watanabe
Room10, Comet (43F)
7A1 -101
N/A

Chair: Frank Schäf and Yi-Cheng Chen

Gearing and Transmissions (4)7A1 -102 Tooth Flank Modification of Line Contact Spiral Bevel Gears
15:20
Mingyang Wang, Shuwen Li, Yuehai Sun
7A1 -103 Designing a Spur Shaper Cutter for a Non-Involute Circular Spline
15:40
Yun-Hao Cheng, Yi-Cheng Chen
7A1 -104 Effect of a blocked recirculation channel on the performance of a not preloaded ball screw with compliant minimal constraints
16:00
Antonio Carlo Bertolino, Roberto Guida, Andrea De Martin, Stefano Mauro, Massimo Sorli
Room11, Subaru (43F)
7A1 -111
N/A

Chair: CRISTINA CASTEJON SISAMON

Multibody Dynamics (4)7A1 -112 Newton-Euler Dynamics for a 3-UPU Parallel Robot in Screw coordinates
15:20
Jing-Shan Zhao
7A1 -113 Spatial Modelling of Deep Groove Ball Bearings Using Smooth Contact Formulation
15:40
Raúl Gismeros Moreno, Filipe Marques, Eduardo Corral Abad, Jesús Meneses Alonso, Paulo Flores, CRISTINA CASTEJON SISAMON
7A1 -114 Friction-induced redundancy of constraints and its consequences
16:00
Marek Wojtyra, Janusz Frączek
Room12, Orion (43F)
Chair: Noritsugu Umehara
7A1 -121 The effect of graphite domain direction on the friction coefficient of diamond-like carbon measured by polarized Raman analysis
15:00
Takayuki Tokoroyama, Chiro Fujiwara, Noritsugu Umehara
7A1 -122 Wear stage judgment and wear failure prediction based on dissipative theory of wear
15:20
Haoran Liao, Ying Liu, Hongju Li, Zhao Xiang
7A1 -123 Investigation of Tribological Properties of Carbon Coatings Deposited on Polymer Substrate
15:40
Youn-Hoo Hwang, YouJin Min, Dae-Eun Kim
7A1 -124 A Wear Depth Characterization Method Based on Fractal Order Taylor Expansion of Measured Normal Displacements
16:00
Hongju Li, Ying Liu, Haoran Liao

Tribology (1)Nov. 7, Session 7A2, 16:40-18:00
Room1, Eminence Hall (5F) Chair: Can Dede
7A2 -011 A Design Concept of Linear-Type Gravity Compensation Using Permanent-Magnet Arrays
16:40
Xiangxian Zeng, Chin-Hsing Kuo, Emre Sariyildiz
7A2 -012 Analytical Synthesis of Five-Bar Linkage 5-PRRRP
17:00
Demjen Tivadar, Alexandru Oarcea, marco Ceccarelli, Erwin-Christian Lovasz, Dorel Buncianu, Dan-Cristian Silaghi-Perju
7A2 -013 Contributions to the Geometric Synthesis of the Windshield Wiper Mechanism with Rocker-Slider Blade
17:20
Ovidiu Antonescu, Dana Valeanu, Daniela Antonescu, Margareta Srimbeanu
7A2 -014
N/A

Linkages and Mechanical Controls (5)Room2, Takao (42F)
Chair: Marco Ceccarelli
Robotics and Mechatronics (14)
7A2 -021 An Inflatable 7-DOF Space Robotic Arm for Active Debris Removal
16:40
Pierpaolo Palmieri, Mario Troise, Laura Salamina, Matteo Gaidano, Matteo Melchiorre, Stefano Mauro
7A2 -022 Bio-inspired design of a soft bending actuator for flexion of a human index finger: a case study
17:00
J. German Cortes-Gonzalez, Yamile Sandoval, Maximiano F. Ruiz-Torres, Eduardo Castillo
7A2 -023 A kirigami–like soft elastomeric skin: design and influence evaluation in the mobility of a bio–inspired snake–arm robot
17:20
Yamile Sandoval, Diego E. Martinez-Sanchez, J. German Cortes-Gonzalez, Eduardo Castillo, Amine Laribi, Elie Gautreau
7A2 -024
N/A

Room3, Tama (42F)
Chair: Clément Gosselin
7A2 -031 Application of the «bang-bang» law in robot manipulators for the reduction of inertial forces and input torques
16:40
Vigen Arakelyan, Yaodong LU, Jing Geng
7A2 -032 A Dual-Arm Nasopharyngeal Swab Manipulation Robot for Polymerization Chain Reaction Sampling
17:00
Tianwei Zhang, Shipei Zheng, Cong Liu, Yiming Yang, Zhenglong Sun, Tin Lun Lam
7A2 -033 Vacuum-powered and fabric-based soft actuator
17:20
Lola Courty, Kenjiro Takemura
7A2 -034
N/A

Robotics and Mechatronics (15)

Room4, Musashi (42F)
Chair: Daniele Cafolla
7A2 -041 Acceleration of Direct Optimal Control and Cost Weight Vector Estimation using Machine Learning
16:40
Shoma Nakatani
7A2 -042 Obstacle Avoidance of a Serial Collaborative Robot Using Impedance Control
17:00
Pietro Davide Maddio, Rosario Sinatra, Alessandro Cammarata
7A2 -043 Foldable base plate mechanism for parallel link robots
17:20
Daigo Tokunaga, Satoshi Nishikawa, Kazuo Kiguchi
7A2 -044
N/A

Robotics and Mechatronics (16)

Room5, Mitake (42F)
Chair: Alexey Lokit
7A2 -051 Geometric accuracy innovative design method for machine tool
16:40
Sitong Wang, Gaiyun He, Dawei Zhang, Faze Chen, Rui Wang
7A2 -052 RELIABILITY OF PRECAST CONCRETE BARRIER LOCK CONNECTIONS AT VEHICLE IMPACT
17:00
Irina Demiyanushko, Oleg Titov, Alexey Lokit
7A2 -053
N/A
7A2 -054

Reliability

N/A

Room7, Sagami (42F)
Chair: Charles Pinto
7A2 -071 Ellipse Distance Geometry and the Design of 3R Robots
16:40
Federico Thomas, Bertold Bongardt
7A2 -072 Static Workspace Computation for Four-Cable Underactuated Cable-Driven Parallel Robots
17:00
Edoardo Idà, Marco Carricato
7A2 -073 Optimal Methodology for Synthesis and Analysis of Straight Line Mechanism
17:20
Zorana Jeli
7A2 -074
N/A

Computational Kinematics (9)Room8, Starlight (43F)
Chair: Med Amine Laribi
7A2 -081 Experimental characterization of Almaty ankle joint exoskeleton
16:40
Nursultan Zhetenbayev, marco Ceccarelli, Gani Balbayev
7A2 -082 A Sit-to-Stand Assisting Device for Accomplishing Daily-Life Activities
17:00
Pierluigi Rea, Maurizio Ruggiu, Erika Ottaviano
7A2 -083 Design, Analysis, and Optimization of a Novel Stent Retriever for Acute Ischemic Stroke
17:20
Shuo Wu, Bo Wang, Tianxiao Zhang, Shengnan Lyu
7A2 -084
N/A

Biomechanical Engineering (5)Room10, Comet (43F)
Chair: Frank Schäf, Shyi-Jeng Tsai
Gearing and Transmissions (5)7A2 -101 Analysis of Transmission Errors and Load Sharing of Compound Stepped Planetary Gear Drives Considering Mesh Phasing
16:40
Qi-You Zhuang, Shyi-Jeng Tsai
7A2 -102 An antibacklash method for wolfrom reducers
17:00
Pablo Riera, Josu Aguirrebeitia, Luis Maria Macareno, Aitor Isturiz
7A2 -103 Experimental validation of models for the structural simulation of crossed roller wire-race bearing
17:20
Iñigo Martín, Iker Heras, Josu Aguirrebeitia
7A2 -104
N/A

Nov. 8, Session 8A1, 13:20-15:00
Room1, Eminence Hall (5F)
8A1 -011
N/A

Chair: Oscar Altuzarra

Linkages and Mechanical Controls (6)8A1 -012 Spatial double-layer deployable mechanism based on Bennett linkage
13:40
Yajing Wang, Pengcheng LU, Dejun Mu, Bo Hu
8A1 -013 Wheel Load Estimation and Anti-roll Bar Control Using Suspension Analysis with Neural Network
14:00
Tianyi Zeng, Tianyi Wang, Liyang Yu, Zeyu Liu, Haotian Chen, Xinbo Chen
8A1 -014 Structural Synthesis of Stationary Cam-Modulated Seven-Bar Linkages for Press Driving Mechanisms
14:20
Wen-Tung Chang, Yi-Chen Li, Tzu-Liang Tsai, Chun-Ming Chang
8A1 -015 A tensegrity-based elastic joint element
14:40
Lukas Merker, Valter Böhm, Lena Zentner
Room2, Takao (42F)
Chair: Tobias Bruckmann
Robotics and Mechatronics (17)8A1 -021 Numerical Study of a Piezoelectric XY-Stage with Diamond-type Displacement Amplification Mechanism
13:20
Po-Yao Lin, Chen-Han Ke, Di-Yao Wang, Shang-Yu Lin, Yung-Tien Liu
8A1 -022 Origami-based rotating bistable mechanism
13:40
Zhenfeng Wu, Jierong Li, Chaoyu Cui, Lixin Yang, Xianmin Zhang, Benliang Zhu
8A1 -023 A Force-Sensing Compliant Gripper Based on Drivetrain Elasticity
14:00
Pin-Chun Yeh, Yi-Shian Tsai, Chao-Chieh Lan
8A1 -024 Rounded Edges and Chamfers as a Protective Measure in Quasi-Static Contact Events
14:20
Elodie Huesing, Jocelyn Cañari, Burkhard CORVES
8A1 -025 Experimental Determination of Calibrated Accuracy for Six-axis Force and Torque Sensors Using Compliant Mechanisms
14:40
Yu-Jen Wang, Shin-Yi Huang
Room3, Tama (42F)
Chair: Chedli Bouzgarrou
Robotics and Mechatronics (18)
8A1 -031 Conceptual Mechanical Design and Control of Novel Human Spine Inspired Multi-Articular Robotic Manipulators
13:20
Narek Zakaryan, Mikayel Harutyunyan, Yuri Sargsyan
8A1 -032 Stabilizing a bipedal mechanism using control moment gyroscopes
13:40
Akio Toyoshima, Shunsuke Yoshimoto, Akio Yamamoto
8A1 -033 Development of schemes of adaptive grippers of manipulators for uniform gripping of objects with a spherical shape
14:00
Yerbol Temirbekov, Zair Ualiyev, Bayandy Bostanov, Bairon Karassayev, Nurzhan Tolebayev, Daniyar Kerimkulov
8A1 -034 Design optimization of a medical robot for shoulder rehabilitation
14:20
Paul Tucan, Marius Sofan, Bogdan Gherman, Octavian Giurgioiu, Adrian Pisla, Tiberiu Molnar, Calin Vaida, Carbone Giuseppe, Doina PISLA
8A1 -035 Accuracy Criteria for Planar Flexures
14:40
Matteo Verotti, Simone Serafino, Pietro Fanghella
Room4, Musashi (42F)
Chair: Daisuke Matsuura
Robotics and Mechatronics (19)8A1 -041 A Waypoint Designation System for Supervisory Control of Robots
13:20
Samuel Cheong, Gim Song Soh
8A1 -042 Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion
13:40
Xiang Meng, Zelin Huang, Qian Liang, Yue Dong, Zhifa Gao, Lianqiang Han, Junhang Lai, Sai Gu, Huanzhong Chen, Xuechao Chen, Qiang Huang
8A1 -043 Movement simulation and analysis of a compliant parallel robot under cryogenic working conditions
14:00
Philipp Jahn, Annika Raatz, Patrick Gregor
8A1 -044 Method of localization of racks with biomaterial for robot grasp based on segmented contour processing
14:20
Larisa Rybak, Vladislav Cherkasov, Carbone Giuseppe, Dmitry Malyshev, Dmitry Dyakonov
8A1 -045 Vibration isolation in spacecraft using Gough-Stewart Platform
14:40
Yogesh Pratap Singh, Ashitava GhosalRoom5, Mitake (42F)
8A1 -051
N/A

Chair: Enrico Galvagn

Transportation Machinery (1)8A1 -052 A Novel Integrated Driving and Steering Module and Its Multi-objective Optimization
13:40
Xinbo Chen, Jiawei Chen, Wei Wang
Event-triggered fault-tolerant control for vehicle rollover avoidance based on an active suspension with robustness against disturbances and
8A1 -053
communication delays
14:00
Fernando Viadero-Monasterio, Manuel Jimenez-Salas, Miguel Melendez-Useros, Beatriz Lopez Boada, Maria Jesus Lopez Boada
8A1 -054 Decoupling Driveline and Steering Systems for 4x4 SUV Lateral Dynamics
14:20
Vladimir Vantsevich, Jesse Paldan, Lee Moradi
8A1 -055
N/A

Room6, Tsukui (42F)
Chair: Georg Nawratil
8A1 -061 Irvine cable equations and neural networks
13:20
Jean-Pierre Merlet
8A1 -062 Designing Planar Mechanisms with the Software Mechanism Developer (MechDev)
13:40
Vincent Paul Brünjes, Thomas Knobloch, Takahiro Aruga, Mathias Huesing, Burkhard Corves
8A1 -063 Accuracy analysis of a redundantly actuated parallel mechanism considering passive joint clearances
14:00
Jianzhong Ding, Shiming Zhou, Haoran Yu, Xueao Liu, Chunjie Wang
8A1 -064 Kinematic synthesis of fully decoupled planar parallel mechanisms by using multiple pantograph geometries
14:20
Abdullah Yasir, V. Van der Wijk, Just Herder
8A1 -065 Singularity Analysis of 1-DOF Linkages with Helical Joints
14:40
Zijia Li, Andreas Mueller

Computational Kinematics (10)Room7, Sagami (42F)
Chair: Jian S Dai
Computational Kinematics (11)8A1 -071 Synthesis and Analysis on the Most Efficient Force Input Locations for Coupler-driven Four-bar Mechanisms
13:20
Chang Liu, Yin ping Chang, Longyuan Yao
8A1 -072 Continuous rotational axes and workspace analysis of a novel 2UPU-2SPR Parallel Mechanism
13:40
Yi Yue, Zhankui Zhang, Baochen Wei, Jiancheng Zhu, Xiuguang Li, Zhongjun Liao
8A1 -073 Three-actuated-DOF Parallel Continuum Robot with High Twisting Performance: Cosserat Rod-based Kineto-static Modeling and Simulation
14:00
Yuhang Lei, Ming Jiang, Yusuke Sugahara, Yukio Takeda
8A1 -074 A Low-Cost, Moderately Fast System for Online Motion Tracking in Laparoscopic Surgery Training
14:20
Pietro Fanghella, Luca Bruzzone, Matteo Verotti
8A1 -075 Kinematic Analysis of a New 3T1R Parallel Manipulator
14:40
Shi-Ta Lin, Meng-Yun Tsai, Chao-Chieh Lan
Room8, Starlight (43F)
8A1 -081
N/A

Biomechanical Engineering (6)Chair: Carlo De Benedictis

8A1 -082 Design of medical robot for stereotactic surgery based on a 3-RPS parallel mechanism
13:40
Karla Silva, Christopher René Torres-San Miguel, Fiacro Jimenez-Ponce, marco Ceccarelli
8A1 -083 Asymmetries in Pelvis, Lumbar, and Thorax During Transfemoral Amputee Walking
14:00
Heran Zhong, Zhihao Zhou, Qining Wang
8A1 -084 System Stability Evaluation of Head-Shaking Test Using Balance Controller Parameters
14:20
Emiko Uchiyama, Wataru Takano
8A1 -085 Functional Drift Filtering of IMU for Long Term Wholebody Motion Capturing
14:40
Kazuya Tomabechi, Yosuke Ikegami, Ko YAMAMOTO, Yoshihiko Nakamura
Room9, Moonlight (43F)
Chair: Horst Ecker
8A1 -091 Self-excited torsional vibrations of a motor-driven reciprocating-compressor
13:20
Timo Holopainen
8A1 -092 Synthesis of a Cam Based Dwell Mechanism Using the Eigenmotion
13:40
Thomas Knobloch, Burkhard CORVES, Mathias Hüsing, Eileen Neukirchen
8A1 -093 Deep Learning for Centrifugal Pump Condition Monitoring Using Data From Variable Frequency Drive
14:00
Topias Turunen, Jesse Miettinen, Aleksanteri Hämäläinen, Aku Karhinen, Raine Viitala
8A1 -094 On the nonlinear dynamics of a rigid rotor supported by shimmed conical gas foil bearings
14:20
Marian Sarrazin, Robert Liebich
8A1 -095 A Data-Driven and Physical Feature Analysis Method for Diagnosing Bearing Faults in Rotating Shaft
14:40
Kuo-Yu Huang, Kai-Yang Peng, Han-Hao Tsai, Jen-Yuan Chang
Room10, Comet (43F)
8A1 -101
N/A
8A1 -102

Dynamics of Rotating Machines (2)Chair: Frank Schäf, Yu-Ren Wu

Gearing and Transmissions (6)N/A

8A1 -103 An Analytical Model for Power Skiving Process of Helical Face Gears
14:00
Khoe-Qui Le, Yu-Ren Wu
8A1 -104 Design of Harmonic Drive with Double-circular-arc Tooth Profile
14:20
Ran Xie, Guocheng Zhou, Heyu Liu, Qu He, Yuhu Yang, Zhaoguang Shen
8A1 -105 Planetary Gear Trains with High Speed Reduction Ratio
14:40
Ching_Lung Chen, Win-Bin Shieh, Ching-Kong Chen
Room12, Orion (43F)
8A1 -121
N/A

Chair: Enrico Ciulli

8A1 -122 Profile optimization in roller bearings for pressure uniformity
13:40
L. Macareno, J. Aguirrebeitia, I. Heras, M. Eizmendi
8A1 -123 The tribological properties of DLC coating with B/Cr codopants and clarification of the mechanism at 300oC
14:00
Ruixi Zhang, Woo-Young Lee, Noritsugu Umehara, Takayuki Tokoroyama, Motoyuki Murashima, Yuji Takimoto
8A1 -124 In silico mixed lubrication model to evaluate the radial clearance influence on the tribology of total hip replacement
14:20
Alessandro Ruggiero, Alessandro Sicilia
8A1 -125 Development of low-friction DLC surface with liquid film derived from the air using dielectric barrier discharge
14:40
Wenjun Wu, Noritsugu Umehara, Takayuki Tokoroyama, Motoyuki Murashima, Ruixi Zhang

Tribology (2)Nov. 8, Session 8A2, 15:20-17:00
Room1, Eminence Hall (5F) Chair: Giuseppe Quaglia
8A2 -011 Analysis of a Novel Torus Tensegrity Structure
15:20
Heping Liu, Jinxin Lu, Ani Luo
8A2 -012 Modified Tooth Design of a Trochoidal Sprocket for a Roller Chain Drive to Improve Positioning Accuracy
15:40
Kazuyoshi Ishida, Koji Makino, Xiao Sun, Shun Tomita, Hiroki Yokota, Hidetsugu Terada
8A2 -013 A Novel Actuation Mechanism for High-bandwidth Bidirectional Rotation of Cable-driven Revolute Joints
16:00
Zhihao Zhou, Zihang Zhao, Lecheng Ruan, Qining Wang
8A2 -014 Coupler curves of a tendon driven hybrid rigid-flexible four-bar. Applications to optimal path design
16:20
Alfonso Hernandez, Aitor Muñoyerro, Monica Urizar Arana, Oscar Altuzarra
8A2 -015 Kinematics of a Tripod Parallel Continuum Robot
16:40
Oscar Altuzarra, Victor Petuya, Mario Acevedo, Miguel Vizcaino, Sebastian Rodriguez

Linkages and Mechanical Controls (7)Room2, Takao (42F)
Chair: Daniela Tarnita
Robotics and Mechatronics (20)
8A2 -021 Development of a Finger Rehabilitation Device
15:20
Rogério Sales Gonçalves, Paulo Eduardo Ferreira da Silva, Ana Luiza Silva, Carbone Giuseppe, marco Ceccarelli
8A2 -022 New concept design of a modular robotic system for upper limb rehabilitation
15:40
Calin Vaida, Marius Sofan, Paul Tucan, Octavian Giurgioiu, Adrian Pisla, Tibor Molnar, Bogdan Gherman, Carbone Giuseppe, Doina PISLA
8A2 -023 3D Printed Low Noise Nozzle: Design and Experimental Tests
16:00
Daniela Maffiodo, Riccardo Volpiano
8A2 -024 VR Pedestrian Flow Simulator by Real-time 3D Motion Reconstruction for Multiple Characters
16:20
Akihiro Sakurai, Yosuke Ikegami, Ko YAMAMOTO
8A2 -025 The Effects of Passive Joints on the Stiffness of a Parallel Kinematic Manipulator
16:40
Pin-Yi Ho, Chia-Hsin Hsieh, Wei-Hsuan Lin, Chih-Wei Li, Cheng-Kuo Sung, Yu-Jen Chiu
Room3, Tama (42F)
Chair: Can Dede
Robotics and Mechatronics (21)
8A2 -031 Mechanical design of a novel reconfigurable wheel-legged robot with multiple locomotion modes
15:20
Li ZhengYi, Shuwen Kou, Junchen Yue, Yaobin Tian, Kun Xu, Xilun Ding
8A2 -032 Increasing Estimation Precision of Human Arm Motion with IMU System and Improved Kinematic Model
15:40
Yan-Yi Lee, Chen Zhi-Yong, Jen-Yuan Chang
8A2 -033 On the design optimization of a parallel robotic system for liver cancer treatment
16:00
Bogdan Gherman, Andra Ciocan, Andrei Caprariu, Paul Tucan, Corina Radu, Calin Vaida, Adrian Pisla, Alin Horsia, Nadim Al Hajjar, Doina PISLA
8A2 -034 Motion Planning Framework for Low Obstacle Traversal and Avoidance
16:20
Brandon Lawrence, Chen Shen, Hoan Nghia Ho, Gim Song Soh
8A2 -035 Dynamic Task Capability based Task Allocation for Collaborative Manipulation
16:40
Keshab Patra, Arpita Sinha, Anirban Guha
Room4, Musashi (42F)
Chair: Georg Rauter
8A2 -041 Calibration of a dynamometric plate for a balance rehabilitation machine in static conditions
15:20
Francisco J. Campa, Juan Sebastián García, Mikel Diez, Javier Corral, Erik Macho, Saioa Herrero Villalibre, Charles Pinto
8A2 -042 Identification of the gear transmission’s efficiency by neural network
15:40
Kenya Mori, Gentiane Venture
8A2 -043 Design and prototyping of novel chimney cleaning robot
16:00
Carbone Giuseppe
8A2 -044 Design of a wheelchair-mounted arm for mealtimes assistance of upper-limb-paralyzed patients
16:20
Carbone Giuseppe
8A2 -045 Motion Design for Robotic Contact: Insertion Tasks
16:40
Siamak Arbatani, Jozsef Kovecses, Marek Teichmann
Room5, Mitake (42F)
Chair: Enrico Galvagno
8A2 -051 An Improved Model for Road-Tyre Interaction
15:20
Kamran Hashmi, Anirban Guha
8A2 -052 A Novel Underactuated Cam Mechanism
15:40
Zhoudong Yan, Xinbo Chen, Wei WANG
8A2 -053 EMD-based intelligent crack detection in freight railway axles.
16:00
Alejandro Bustos Caballero, Higinio Rubio, CRISTINA CASTEJON SISAMON, Juan Carlos Garcia-Prada
8A2 -054
N/A
8A2 -055

Robotics and Mechatronics (22)Transportation Machinery (2)N/A

Room6, Tsukui (42F)
Chair: Pietro Fanghella
8A2 -061 A local overfitting alleviation method for data-driven calibration applied in a 5-DOF hybrid robot
15:20
Conglin Wu, Zhibiao Yan, Tian Huang, haitao liu, Haoyuan Wu, Xiaobiao Ge
8A2 -062 Design and Selection method of compliant 3RRR Planar Parallel mechanism
15:40
Nianfeng Wang
8A2 -063 3-UCU: a new parallel robot with 6 degrees of freedom
16:00
Chedli Bouzgarrou, Khaled Arrouk
8A2 -064 Mobility Analysis of a Novel six-DOF Parallel Robot with Additional Rotation and Plate Tilting Mechanisms
16:20
Takashi Harada, Hayato Yase
8A2 -065 Optimal design of bridge amplifiers for large-range linear characteristics
16:40
Lavanya SB, G.R. Jayanth, A. K. Mohanty

Computational Kinematics (12)Room7, Sagami (42F)
Chair: Tao Sun
8A2 -071 An Approach for Predicting and Compensating the End Deformation of a Heavy Load Robot for Friction Stir Welding
15:20
Yujie Bai, haitao liu, Shaofei Meng, Yue Ma, Wei Yue, Guangxi Li, Juliang Xiao, Guofeng Wang, Yabin Ding
8A2 -072 Nonlinear Strain Energy Formulation of Spatially Deflected Strip Flexures
15:40
Ruiyu Bai, Nan Yang, Bo Li, Guimin Chen
8A2 -073 Clearance-induced position uncertainty estimation and experimental verification of a planar parallel manipulator
16:00
zhenhui zhan, Xianmin Zhang, Bo Zhao, Qiqiang Wu
8A2 -074 A novel reconfigurable compliant mechanism with adjustable motion direction and multiple motion modes
16:20
Junjie Du, Xianmin Zhang, Benliang Zhu, Chaoyu Cui, Hao Xu, Yanjiang Huang
8A2 -075 A New Index for the Evaluation of Mechanism Workspace: Application to Six-DoF Architectures
16:40
Christopher Reinaldo, Térence Essomba, Latifah Nurahmi

Computational Kinematics (13)Room8, Starlight (43F)
Chair: Carlo De Benedictis
Biomechanical Engineering (7)8A2 -081 Innovative Mechanism Design of Oral Cavity Muscles Exercising Device
15:20
Pei-ti Mao, TZU-Lei Huang, Ci, Jhen Ni, Guan-Chen Chen, Yu-Hsun Chen
8A2 -082 Power Transmission Mechanism from Upper Limb to Lower Limb by Pneumatic Artificial Muscles for Development of Self-Assist Suit
15:40
Ayumu Nara, Kenji Hashimoto
8A2 -083 Abrupt movements assessment of human arms based on recurrent neural networks for interaction with machines
16:00
Michele Polito, Elisa Digo, Stefano Pastorelli, Laura Gastaldi
8A2 -084 Low-cost Design of a Device for Monitoring the Physiological Status of a Vehicle Driver
16:20
María Garrosa, marco Ceccarelli, Vicente Díaz
8A2 -085
N/A

Room9, Moonlight (43F)
Chair: Tomasz Szolc, Pavel Polach
8A2 -091 Physical Limitations for High-speed Electric Machines Rotor Dimensions
15:20
Emil Kurvinen, Jussi Sopanen, Tuhin Choudhury
8A2 -092 Rotordynamic Investigation of Roll Bouncing Phenomenon in Two-Drum Winder
15:40
Samuli Rytömaa, Sampo Laine, Raine Viitala
8A2 -093 Dynamics of Large Turbine Rotors supported by Tilting Pad Journal Bearings
16:00
Michal Hajžman, Pavel Polach, Jan Rendl, Štěpán Dyk, Radek Bulín, Luboš Smolík
8A2 -094 Frequency Domain based Method for Solving Response due to Outer Race Defect in Deep Groove Ball Bearings
16:20
Tuhin Choudhury, Khurram Shehzad, Emil Kurvinen, Jussi Sopanen, Charles Nutakor
8A2 -095 Computational Model for the Calculation of Natural Vibration Characteristics of a Turbine Bladed Disk
16:40
Pavel Polach

Dynamics of Rotating Machines (3)Room10, Comet (43F)
Chair: Kuatbay Bissembayev, Juan Carlos Jauregui
8A2 -101 Oscillations of a Body on Rolling Bearings with Straightened Surfaces Caused by a Random Movement of the Base
15:20
Kuatbay Bissembayev, Amandyk Tuleshov, Askar Seidakhmet, Madi Kaliyev, Kundyz Sultanova
8A2 -102 Vibration of Internal gear in Planetary Gear Trains under Moving Load
15:40
JIanming Yang, Mohammadjavad Abedinilaksar, Ping Yang
8A2 -103 Modelling Cable Vibration Following Load Removal
16:00
Mouna Ammar, Laszlo E. Kollar
8A2 -104 Predicting operating conditions in wind turbines under gusty winds
16:20
Juan Carlos Jauregui, Ignacio Torres Contreras
8A2 -105
N/A

Room12, Orion (43F)
Chair: Dae-Eun Kim
8A2 -121 Pivot Rolling Motion Effect in Rocker Back Tilting Pad Journal Bearings: First Comparison between Experiment and Simulation
15:20
Alberto Betti, Paola Forte, Daniele Panara, Enrico Ciulli
8A2 -122 Tribo-corrosion properties of hard carbonaceous coatings
15:40
Li Lulu, Noritsugu Umehara, Takayuki Tokoroyama, Ruixi Zhang
8A2 -123 Contact behavior of a sliding spherical indenter at supersonic speed
16:00
Se Jun Shim, Hyeonggeun Jo, Ilkwang Jang, Yong Hoon Jang
8A2 -124 Highly Flexible Stretchable Strain Sensor with Sensitivity and Durability for Human-Motion Detection
16:20
Sung-Jun Lee, Chang-Lae Kim
8A2 -125 Effect of Fracture Toughness on Wear of DLC Coatings
16:40
Yusei Yamada, Motoyuki Murashima, Noritsugu Umehara, Takayuki Tokoroyama, Woo-Young Lee

Vibrations

Tribology (3)Nov. 9, Session 9M1, 9:00-10:40
Room1, Eminence Hall (5F)
9M1 -011
N/A

Chair: Marco Ceccarelli

Linkages and Mechanical Controls (8)9M1 -012 Conceptual Design and Analysis of a Novel Magnetic Braking Descent Device
9:20
FENG-MING OU, YI-CHANG WU, CHENG-FENG WU
9M1 -013 Compact Gravity-Balanced Design of Serial Robots Under Payload Variation
9:40
Vu Linh Nguyen
9M1 -014 An investigation on assembly accuracy adjustment of a parallel-kinematic machine at multiple positions
10:00
Jhy-Cherng TSAI, Ching-Yu Chang, Yu-Jen Wang, Yu-Jen Chiu
9M1 -015 Genetic Algorithm Application in Walking Mechanism Designed with Planar Link Mechanism
10:20
Yoshihiko Matsumoto, Yasuhiro Inoue
Room2, Takao (42F)
9M1 -021
N/A

Chair: Danel Condurache

Robotics and Mechatronics (23)9M1 -022 Toward Safe and Efficient Human-Robot Teams: Mixed Reality-based Robot Motion and Safety Index Visualization
9:20
Gustavo Alfonso Garcia Ricardez, Carl Törnberg, Lotfi El Hafi, Jorge Solis, Tadahiro Taniguchi
9M1 -023 Truss Arm : the World’s Longest Telescopic Arm with Highest Payload and with No Deflection for the Decommissioning of Fukushima Daiichi Nuclear
Power Plant
9:40
Tomohiro OKA, Naoto Kimura, Shigeo Hirose
9M1 -024 An Integral-Elimination based Inertial and Friction Parameters Identification Method
10:00
Xianlei Shan, Wei Yue, Qingpo Xu, Junyi Shi, Wei Han, Junhui Yi, haitao liu, yijin Wang, yijin Wang
9M1 -025 An Alternative Solution for Balancing of the 3-PRRR Fully-Isotropic Translational Parallel Robot
10:20
Mario Acevedo
Room3, Tama (42F)
9M1 -031
N/A

Chair: Cristina Castejon

Robotics and Mechatronics (24)

9M1 -032 Contact and slide sensing of the MERO walking robot on uneven terrain
9:20
ION ION, Dinu Cornel, Stefanescu Dan, Curaj Adrian, Gavan Mircea
9M1 -033 Variable Stiffness Joint Implementation in a Mechanism for the Arm Rehabilitation
María Guadalupe Contreras Calderon, Amine Laribi, Juan Sandoval, Eduardo Castillo, Maria del Rosario Hernández-Hernández, Marc Arsicault, ABDELBADIA CHAKER
9:40
9M1 -034 Switched Force/Impedance control for humanoid robot walking on irregular surfaces
10:00
Irvin Gabriel Castillo Hernández, Carlos Alberto Cruz-Villar, Jaime Alvarez-Gallegos
9M1 -035 Design of Underwater Robot system for collecting Floating debris
10:20
Sangheon Roh, Donghwi Shin, Jeonghyeon Lee, Taegyun Kim, Sungkeun Lee
Room4, Musashi (42F)
9M1 -041
N/A

Chair: Pierre Larochelle

Robotics and Mechatronics (25)

9M1 -042 Robust design of ATHENA ISM Parallel Manipulator
9:20
Jorge Múgica, Joseba Zubia, Mª Asunción Illarramendi, Pablo Campo, Gonzalo Taubmann
9M1 -043 Cycle time reduction through redundancy optimization in industrial robotic tasks
9:40
Matteo Manzardo, Giovanni Carabin, Luca Gualtieri, renato vidoni
9M1 -044 A reconfigurable actuation unit for modular cable-driven robots
10:00
Matteo Russo, Daniele Cafolla, Betsy D.M. Chaparro-Rico
9M1 -045 Inverse Experimental Estimation of Bending of a Cylinder-Piston Actuator of a Parallel Platform by Relative Optical Marker Tracking
10:20
Christian Brans , Andrés Kecskeméthy
Room6, Tsukui (42F)
9M1 -061
N/A

Chair: Oscar Altuzarra

9M1 -062 Singularity Conditions of Concentric Tube Robots
9:20
Federico Zaccaria, Edoardo Idà, Sebastien Briot
9M1 -063 A Novel Class of (3+2)-DOF Reconfigurable Generalized Parallel Mechanisms with Kinematic Redundancy
9:40
Chunxu Tian, Luquan Li, Zhihao Xia, Dan Zhang
9M1 -064 Kinematic Modeling and Analysis of a New Hybrid Seven-Bar Linkage Mechanism
10:00
Amandyk Tuleshov, Recep Halicioglu, Moldir Kuatova
9M1 -065 A quantitative comparison of uniformity of distribution achieved in different methods of discrete sampling of SO(3)
10:20
Bibekananda Patra, Sandipan Bandyopadhyay

Computational Kinematics (14)Nov. 9, Session 9M2, 11:00-12:40
Room1, Eminence Hall (5F) Chair: Miroslav Vaclavik
9M2 -011 Research of an Entry Vehicle with Semi-rigid Trapezoid Deployable Structures
11:00
Zijie Chen, Hongwei Guo, Rongqiang Liu, Chuang Shi, Zongquan Deng
9M2 -012 Structural synthesis of robot manipulators with general constraint two
11:20
Rasim Alizade, Javad Samadzade
9M2 -013 Design and analysis of 8R-Folding metamorphic mechanism and metamorphic robot
11:40
Mi Li, Wujie Shi, Junpeng Chen, Zheming Zhuang, Dai Jian Sheng
9M2 -014
N/A
9M2 -015

Linkages and Mechanical Controls (9)N/A

Room2, Takao (42F)
Chair: Georg Rauter
9M2 -021 Design of Movable Casing for Friction Reduction of External Gear Pump for Hydraulic Actuators
11:00
Mitsuo Komagata, Ko YAMAMOTO, Yoshihiko Nakamura
9M2 -022 System Design, Localization, and Forced-based Trajectory Evaluation of the Magnetic Adhesion Robot
11:20
Tongjia Li, Hao Xu, Weizhong Guo
9M2 -023 Spring perfectly statically balanced 1-DOF mechanisms using slider-crank
11:40
Cheng-Hsuan Hsu, Yu-Hsuan Lin, Chi-Shiun Jhuang, Dar-Zen Chen
9M2 -024 A Novel Approach to Occupancy Grid Map Merging in Environments with Highly Repetitive Features
12:00
Chung-Jui Lai, Kuei-Yuan Chan
9M2 -025
N/A

Robotics and Mechatronics (26)

Room3, Tama (42F)
Chair: Alessandro Gasparetto
9M2 -031 Design of a manipulator for agriculture
11:00
Michał Olinski, Paweł Dudziński, marco Ceccarelli
9M2 -032 The Design of a Multi-legged Modular Walking Robot
11:20
Jiaji Li, J. M. McCarthy, Chenhao Liu
9M2 -033 Configuration evolution of 6-DoF parallel robots based on Markov decision process
11:40
Xinming Huo, Chongyang Jiang, Bo Wang, Yimin Song, Tao Sun
9M2 -034 Optimal inverse kinematics solution for redundant manipulators combined with trajectory scaling
12:00Łukasz Woliński, Marek Wojtyra
9M2 -035
N/A

Robotics and Mechatronics (27)

Room4, Musashi (42F)
Chair: Giuseppe Quaglia
Robotics and Mechatronics (28)
9M2 -041 Passively adaptive external force compensation system for serial manipulators
11:00
Albert Demian, Alexandr Klimchik
9M2 -042 Calculation of the main parameters of the gripper of a robotic manipulator when reloading spherical and cylindrical objects
11:20
Assylbek Jomartov, Aidarkhan Kaimov, Yerbol Temirbekov, Talgat Kaiym, Amandyk Tuleshov, Yevgeniy Chsherbinin, Maksat Kalimoldayev, Suleimen Kaimov
9M2 -043 Experimental research of a parallel manipulator in a singular configuration
11:40
Jacek Bałchanowski, Sławomir Wudarczyk
9M2 -044 A Distributed Topology Unfolding Mechanism for Maintaining Communication Link Between Mobile Nodes
12:00
Jabez Leong Kit, Gim Song Soh
9M2 -045
N/A

Room6, Tsukui (42F)
Chair: Martin Pfurner
Computational Kinematics (15)
9M2 -061 Trajectory Synthesis and Sensitivity Analysis of Six-Bar Mechanism for Gait Implementation
11:00
Yating Zhang, Ping Zhao, Longxiao Gong, Xueting Deng
9M2 -062 Design and modeling of a compact three-stage displacement amplification mechanism based on RBC-inspired flexure hinges
11:20
Lei Yuan, Mingxiang Ling, Jianhao Lai, Tingjun Zeng, Benliang Zhu, Hai Li, Lixin Yang, Xianmin Zhang
9M2 -063 Cyclic Quadrilateral Positions of Planar 4R Four-Bar Mechanism
11:40
RAVI TRIPATHI, Rama Krishna K
9M2 -064 A Novel Spatial 3-DoF Constant-Force Generator for the Static Balancing of Parallel Robots
12:00
Giovanni Mottola, Alberto Martini
9M2 -065
N/A