arXiv subjects

Hiroki Ishikawa

Publications and source records attributed to Hiroki Ishikawa.

4 recordsLinked to original sources

arXiv2026

Design Methodology of Hydraulically-driven Soft Robotic Gripper for a Large and Heavy Object

This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with several hundred kPa pressure, and cannot generate output force sufficient for such a large and heavy object. Instead of pneumatic actuation, hydraulic actuation has a potential to generate much larger power by several MPa pressure. In this study, we develop a hydraulically-driven soft gripper, in which its basic design parameters are determined based on a mathematical model that represents the relationship among the driving pressure, bending angle, object mass and grasping force. Moreover, we selected materials suitable for grasping a heavier object, based on the finite element analysis result of the detailed design. We report experimental results on a 20 kg object grasping and closed-loop control of the finger bending angle.

cs.RO↗

arXiv2025

Adaptive-twist Soft Finger Mechanism for Grasping by Wrapping

This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the adaptive-twist deformation function in both in-plane and out-of-plane directions. The function allows the finger to be inserted deeply into a limited gap among objects. Once inserted, the soft finger requires appropriate control of grasping force normal to contact surface, thereby maintaining the twisted deformation. In this paper, we refer to this type of grasping as grasping by wrapping. To achieve these two functions by a single actuation source, we propose a variable stiffness mechanism that can adaptively change the stiffness as the pressure is higher. We conduct a finite element analysis (FEA) on the proposed mechanism and determine its design parameter based on the FEA result. Using the developed soft finger, we report basic experimental results and demonstrations on grasping various objects.

cs.RO↗

arXiv2025

Gauge symmetry breaking with $S^2$ extra dimensions

We consider symmetry breaking of arbitrary gauge groups on a six-dimensional space-time which consists of a four-dimensional Minkowski space-time $M^4$ and a two-dimensional sphere $S^2$. We expand the gauge fields in the presence of a non-trivial background unique to $S^2$. We analyze Kaluza-Klein(KK) modes of the gauge fields and derive the mass spectrum of the KK modes. We found that the gauge fields (not) commuting with the background fields (do not) remain symmetry operators in four dimensions. We also discuss the mass spectrum of the extra-dimensional components of the gauge fields and identify a physical scalar $ϕ$ and a Nambu-Goldstone mode $χ$. As a result, we obtain a method to break gauge symmetry due to the nontrivial solution for gauge fields which is a unique feature of $S^2$.

hep-ph↗

arXiv2023

Precipitation induced filament pattern of injected fluid controlled by structured cell

Mixing of two fluids can lead to the formation of a precipitate. If one of the fluids is injected into a confined space filled with the other, a created precipitate disrupts the flow locally and forms complex spatiotemporal patterns. The relevance of controlling these patterns has been highlighted in the engineering and geological contexts. Here, we show that such injection patterns can be controlled consistently by injection rate and obstacles. Our experimental results revealed filament patterns for high injection and low reaction rates, and the injection rate can control the number of active filaments. Furthermore, appropriately spaced obstacles in the cells can straighten the motion of the advancing tip of the filament. A mathematical model based on a moving boundary adopting the effect of precipitation reproduced the phase diagram and the straight motion of filaments in structured cells. Our study clarifies the impact of the nonlinear permeability response on the precipitate density and that of the obstacles in the surrounding medium on the motion of the injected fluid with precipitation.

cond-mat.soft↗