ABE Koyu 阿部幸勇

… Alternative Names

阿部幸男アベコウユウ

Less

Researcher Number	80261600
External Links
Affiliation (based on the past Project Information) *help	2009 – 2010: Tohoku University, 大学院・工学研究科, 助教 2007 – 2008: Graduate School of Engineering, Tohoku University, Graduate School of Engineering, Research Associate 2006: 東北大学, 大学院工学研究科, 助手 2005: 東北大学, 大学院・工学研究科, 助手 2001 – 2004: Tohoku University, Graduate School of Engineering, Teaching Staff, 大学院・工学研究科, 教務職員 1994 – 2000: 東北大学, 工学部, 教務職員 1997: Tohoku University, Graduate School of Engineering, Technical Staff, 大学院・工学研究科, 教務職員
Review Section/Research Field	Principal Investigator Intelligent mechanics/Mechanical systems / Intelligent mechanics/Mechanical systems Except Principal Investigator Intelligent mechanics/Mechanical systems / Intelligent mechanics/Mechanical systems / Perception information processing/Intelligent robotics / Aerospace engineering
Keywords	Principal Investigator 力覚センサ / 平行はり / 応力集中 / マイクロカンチレバー / 弾性ヒンジ / 溝付きはり / フォースセンサ / 弾性はり / H形溝付きはり / FEA … More / Stress Concentration / マイクロピンセット / H形スリットはり / 偏置荷重 / H形スリットダブルビーム / カセンサ / 偏置誤差 / 力センサ / 超弾性 / メカトロニクス / 指向性変形 / センサ用はり / H溝付きはり / FEM / H型溝付きはり / 力覚覚センサ / ひずみ / 指向性 / Force / Torque Sensor / Parallel Beam / Flexure Hinge / Mechatronics / H-slit Beam / Directional Deflection / 過負荷防止 / 微小力測定 / Force Sensor / Micro-Cantilever / Parallel beam / H-slit type beam … More Except Principal Investigator 機械力学・制御 / バーチャルリアリティ / ヒューマノイドロボット / パラレルロボット / 振動制御 / 協調制御 / 医療・福祉 / 生物・生体工学 / 脳・神経 / モーションキャプチャー / 全身協調動作 / 動作生成 / 振動抑制制御 / 最適設計 / 実時間制御システム / 微小重力シミュレータ / ハイブリッドシミュレータ / 宇宙遠隔操作 / Space teleoperation / 遠隔操作 / テレロボティクス / Teleoperation / 知能ロボティクス / 物体の把持 / 単機能ロボット群 / マイクロマシン / 力分配 / 分散型ロボット要素 / ソフトロボット / 安全性 / 人間・機械共存 / サーボ関節モジュール / メカニカルコンプライアンス / イベントベース制御 / 分散制御 / マイクロロボット / 遠隔手術 / 仮想手術シミュレータ / 脳 / 力覚・触覚呈示 / 力学シミュレータ / ロボット工学 / 生体工学 / 超粘弾性物体 / 実時間シミュレーション / ダイナミック動作 / 運動力学 / 運動制御 / UAV / VTOL / 自律飛行 / HEXA機構 / 閉ループ機構 / 特異姿勢 / 動的制御 / コンプライアンス制御 / HEXA mechanism / Parallel robot / Closed-loop mechanism / Singularity / Dynamic control / Compliance control / フレキシブルロボット / 双腕協調制御 / 力制御 / 可制御性 / 逆運動学・動力学 / 拘束力学系 / 集中定数モデル / 双腕 / flexible robot / vibration control / dual-arm cooperative control / force control / controllability / inverse kinematics and dynamics / constrained mechanical system / lumped-parameter model / 無反動マニピュレータ / フレキシブルビーム / 無反動軌道 / 双腕マニピュレータ / カップリングマップ / Reactionless Manipulator / Flexible Beam / Reactionless Path / Vibration Suppression Control / Dual-Arm Manipulator / 超高速ロボット / DDロボット / 特異点解析 / モーションテーブル / 6自由度ロボット / 操作性解析 / parallel robot / very fast robot / direct-drive robot / singularity analysis / optimal design / real-time control system / micro-gravity simulator / motion table / 時間遅れ / オペレータ支援 / ネットワーク / マルチボディダイナミクス / インターネット / 特異点適合法 / モデルベースト遠隔操作 / モデルペースト遠隔操作 / Time delay / Operator support system / Network / Multi-body dynamics / Internet / Singularity-consistent approach / Model based teleoperation / 無重力シミュレータ / 超高速運動機構 / 宇宙ロボット / 実時間制御 / Micro-Gravity Simulator / Hybrid Simulator / Ultra High-Speed Mechanism / Parallel Robot / Space Robot / Telerobotics / Real-Time Control / ハプティックインタフェース / パラレル機構 / 剛性 / 力提示 / テレオペレーション / 6自由度機構 / 力覚ディスプレイ / マスタアーム / パラレルメカニズム / 臨場感 / 力提示デバイス / フォースディスプレイ / Haptic interface / Parallel structure / Stiffness / Optimal design / Force display / Virtual reality / 宇宙科学 / 知能機械 / 微小重力 / 双腕宇宙ロボット / ハイブリッドシミュレーション / HEXA型パラレルロボット / 宇宙での作業の模擬 / intelligent robotics / space science / mechanics, control / intelligent machine / microgravity / ヒューマノイドロポット / インパクトダイナミクス / インパクト動作 / Humanoid robot / Impact dynamics / Intelligent robots Less

衝撃力に対するヒューマノイドロボットの転倒回避制御
- Principal Investigator
  
  近野敦
- Project Period (FY)
  2009 – 2011
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Research Field
  
  Perception information processing/Intelligent robotics
- Research Institution
  Tohoku University
ポータブルテールシッターVTOL無人航空機の開発
- Principal Investigator
  
  近野敦
- Project Period (FY)
  2009 – 2011
- Research Category
  
  Grant-in-Aid for Challenging Exploratory Research
- Research Field
  
  Aerospace engineering
- Research Institution
  Tohoku University
Experimental Model of a Large Displacement Micro Tweezers Used for Force Display.Principal Investigator
- Principal Investigator
  
  ABE Koyu
- Project Period (FY)
  2008 – 2010
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
脳外科手術試技のための術具イン・ザ・ループシミュレータ
- Principal Investigator
  
  内山勝
- Project Period (FY)
  2007 – 2008
- Research Category
  
  Grant-in-Aid for Exploratory Research
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
IMPACT DYNAMICS OF HUMANOID ROBOTS
- Principal Investigator
  
  KONNO Atsushi
- Project Period (FY)
  2006 – 2007
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Research Field
  
  Perception information processing/Intelligent robotics
- Research Institution
  Tohoku University
Development of compact size force sensing devices which uses for high directivity elasticity beamPrincipal Investigator
- Principal Investigator
  
  ABE Koyu
- Project Period (FY)
  2006 – 2007
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
人間のダイナミック動作の力学的解明とヒューマノイドロボット作業への応用
- Principal Investigator
  
  近野敦
- Project Period (FY)
  2005 – 2006
- Research Category
  
  Grant-in-Aid for Exploratory Research
- Research Field
  
  Perception information processing/Intelligent robotics
- Research Institution
  Tohoku University
Acquisition of Next Generation Dual-arm Teleoperation Technology through Hybrid Simulation
- Principal Investigator
  
  UCHIYAMA Masaru
- Project Period (FY)
  2004 – 2007
- Research Category
  
  Grant-in-Aid for Scientific Research (A)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
脳の力学シミュレータの構築と手術時の力覚・触覚呈示システムの開発
- Principal Investigator
  
  内山勝
- Project Period (FY)
  2003 – 2005
- Research Category
  
  Grant-in-Aid for Exploratory Research
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
Study on the unidirectional force sensitive beam structure with the overload protection mechanismPrincipal Investigator
- Principal Investigator
  
  ABE Koyu
- Project Period (FY)
  2001 – 2003
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
Development of a compact highly efficient and verratile 6-DOF haptic interface
- Principal Investigator
  
  UCHIYAMA Masaru
- Project Period (FY)
  1999 – 2001
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
Study on Ultra High-Speed Micro-Gravity Simulator Based Space Telerobotics
- Principal Investigator
  
  UCHIYAMA Masaru
- Project Period (FY)
  1998 – 2000
- Research Category
  
  Grant-in-Aid for Scientific Research (B).
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
Study on Integration of Advanced Space Telerobots Technology
- Principal Investigator
  
  TSUMAKI Yuichi
- Project Period (FY)
  1997 – 1998
- Research Category
  
  Grant-in-Aid for international Scientific Research
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
ソフトロボットによる協調的な物体操作
- Principal Investigator
  
  UCHIYAMA Masaru
- Project Period (FY)
  1996 – 1998
- Research Category
  
  Grant-in-Aid for Exploratory Research
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
Trial Manufacture of a Six Degrees-of-Freedom Very Fast Parallel Robot
- Principal Investigator
  
  UCHIYAMA Masaru
- Project Period (FY)
  1996 – 1998
- Research Category
  
  Grant-in-Aid for Scientific Research (A)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
Study on Cooperative Control of Flexible Dual Arm Robot
- Principal Investigator
  
  UCHIYAMA Masaru
- Project Period (FY)
  1995 – 1997
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
RESEARCH ON REACTIONLESS MANIPULATOR
- Principal Investigator
  
  NENCHEV Dragomir
- Project Period (FY)
  1995 – 1997
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  NIIGATA UNIVERSITY
  Tohoku University
分散型ロボット要素群による知的物体操作の研究
- Principal Investigator
  
  KONNO Atsushi
- Project Period (FY)
  1994
- Research Category
  
  Grant-in-Aid for General Scientific Research (C)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Tohoku University
Reserach on Dexterous High Speed Parallel Robots
- Principal Investigator
  
  UCHIYAMA Masaru
- Project Period (FY)
  1994 – 1995
- Research Category
  
  Grant-in-Aid for international Scientific Research
- Research Institution
  Tohoku University

All 2010 2009 2008 2007 2006

All Journal Article Presentation Patent

[Journal Article] H形スリットを持つダブルビーム型ロードセルにおける過負荷防止機構2010
- Author(s)
  阿部幸勇, 外
- Journal Title
  
  精密工学会誌
  
  Volume: Vol.76,No.11 Pages: 1269-1304
- NAID
  130000660581
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560231
[Journal Article] H形スリットを持つダブルビーム型ロードセルにおける過負荷防止機構2010
- Author(s)
  阿部幸勇, 内山勝
- Journal Title
  
  精密工学会誌
  
  Volume: Vol.76, No.11 Pages: 1299-1304
- NAID
  130000660581
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560231
[Journal Article] H形スリットを持つダブルビーム型ロードセルの変形機構を用いた荷重位置と実荷重の同時測定2010
- Author(s)
  阿部幸勇, 外
- Journal Title
  
  精密工学会誌
  
  Volume: Vol.76,No.10 Pages: 1200-1205
- NAID
  130000660562
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560231
[Journal Article] H形スリットを持つダブルビーム型ロードセルの変形機構を用いた荷重位置と実荷重の同時測定2010
- Author(s)
  阿部幸勇, 内山勝
- Journal Title
  
  精密工学会誌
  
  Volume: Vol.76, No.10 Pages: 1200-1205
- NAID
  130000660562
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560231
[Journal Article] Overload Protection Mechanisms for a Fore Detection Beam in a Force Sensor2008
- Author(s)
  Koyu Abe
- Journal Title
  
  Journal of Robotics and Mechatronics Vol.20, No.2(掲載決定)
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-18560242
[Journal Article] Overload Protection Mechanisms for a Force Detection Beam in a Force Sensor2008
- Author(s)
  Kovu Abe
- Journal Title
  
  Journal of Robotics and Mechatronics Vol.20, No.2
  
  Pages: 316-321
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560231
[Journal Article] Overload Protection Mechanisms for a Force Detection Beam in a Force Sensor2008
- Author(s)
  Koyu Abe at all
- Journal Title
  
  Journal of Robotics and Mechatromcs, Reviewed Vol.20, No.2
  
  Pages: 316-321
- Description
  「研究成果報告書概要(欧文)」より
- Data Source
  KAKENHI-PROJECT-18560242
[Journal Article] Overload Protection Mechanisms for a Force Detection Beam in a Force Sensor2008
- Author(s)
  Koyu Abe
- Journal Title
  
  Journal of Robotics and Mechatronics Vol.20, No.2
  
  Pages: 316-321
- Description
  「研究成果報告書概要(和文)」より
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-18560242
[Journal Article] Overload Protection Mechanisms for Force Detecting Beam in a Force Sensor2008
- Author(s)
  Koyu ABE and Masaru UCHIYAMA
- Journal Title
  
  Journal of Robotics and Mechatronics, on refereed
  
  Volume: Vol.20, No.2 Pages: 316-321
- Data Source
  KAKENHI-PROJECT-20560231
[Journal Article] 摺動部にエポキシ樹脂を用いた高精度ボールジョイントの開発2007
- Author(s)
  阿部幸勇
- Journal Title
  
  精密工学会誌 73巻4号(印刷中)
- NAID
  110006242355
- Data Source
  KAKENHI-PROJECT-18560242
[Journal Article] Development of a Highly Accurate Ball Joint to Use Epoxy-Type Bond2006
- Author(s)
  Koyu ABE
- Journal Title
  
  Proceedings of the Second Asia International Symposium on Mechatronics (AISM-2006) B4-05(CD-ROM)
- Data Source
  KAKENHI-PROJECT-18560242
[Journal Article] 摺動部にエポキシ樹脂を用いたパラレルロボット用ボールジョイントの開発2006
- Author(s)
  阿部幸勇
- Journal Title
  
  第11回知能メカトロニクスワークショップ講演論文集
  
  Pages: 186-191
- Data Source
  KAKENHI-PROJECT-18560242
[Patent] はり構造起歪体および荷重測定法2010
- Inventor(s)
  阿部幸勇, 外
- Industrial Property Rights Holder
  東北大学
- Industrial Property Number
  2010-118938
- Filing Date
  2010-05-25
- Data Source
  KAKENHI-PROJECT-20560231
[Patent] はり構造起歪体および荷重測定法2010
- Inventor(s)
  阿部幸勇, 内山勝, 近野敦, 姜欣, 安孫子聡子
- Industrial Property Rights Holder
  東北大学
- Industrial Property Number
  2010-118938
- Filing Date
  2010-05-25
- Data Source
  KAKENHI-PROJECT-20560231
[Patent] 特許2009
- Inventor(s)
  阿部幸勇
- Industrial Property Rights Holder
  東北大学
- Industrial Property Number
  2009-229502
- Filing Date
  2009-10-01
- Data Source
  KAKENHI-PROJECT-20560231
[Patent] 荷重センサ2009
- Inventor(s)
  阿部幸勇, 内山勝, 近野敦, 姜欣
- Industrial Property Rights Holder
  東北大学
- Industrial Property Number
  2009-229502
- Filing Date
  2009-10-01
- Data Source
  KAKENHI-PROJECT-20560231
[Presentation] H溝型ロードセルにおける荷重偏置誤差の除去2010
- Author(s)
  阿部幸勇, 近野敦, 内山勝
- Organizer
  日本機械学会ロボティクス・メカトロ二クス講演会2010
- Place of Presentation
  旭川市
- Year and Date
  2010-06-16
- Data Source
  KAKENHI-PROJECT-20560231
[Presentation] H溝型ロードセルにおける荷重偏置誤差の除去2010
- Author(s)
  阿部幸勇, 他
- Organizer
  日本機械学会ロボメック2010
- Place of Presentation
  北海道(旭川市)
- Year and Date
  2010-06-15
- Data Source
  KAKENHI-PROJECT-20560231
[Presentation] 脳外科手術シミュレータ用ハプティックインタフェースの開発2010
- Author(s)
  高木優, 阿部幸勇, 姜欣, 安孫子聡子, 近野敦, 内山勝
- Organizer
  日本機械学会, 日本機械学会ロボティクス・メカトロ二クス講演会2010
- Place of Presentation
  旭川市
- Year and Date
  2010-06-15
- Data Source
  KAKENHI-PROJECT-20560231
[Presentation] 東北大学内山・近野研究室のRT-高指向性力覚センサ技術-2008
- Author(s)
  阿部幸勇, 姜欣, 近野敦, 内山勝
- Organizer
  第26回日本ロボット学会学術講演会
- Place of Presentation
  神戸市
- Year and Date
  2008-09-11
- Data Source
  KAKENHI-PROJECT-20560231
[Presentation] Overload Protection Mechanisms for Force Detecting Beam in a Force Sensor2007
- Author(s)
  Koyu Abe at all
- Organizer
  Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (ICMA 2007)
- Place of Presentation
  Harbin (China)
- Year and Date
  2007-08-07
- Description
  「研究成果報告書概要(和文)」より
- Data Source
  KAKENHI-PROJECT-18560242
[Presentation] Optimum Notch Profile for a Slitted Force Sensor Beam to Function as an Overload Prevention Mechanism2007
- Author(s)
  Koyu Abe at all
- Organizer
  Proceedings of the 2007 JSME Conference on Robotics and Mechatronics, 1P1-A07
- Place of Presentation
  Akita(Japan), (in Japanese)
- Year and Date
  2007-05-12
- Description
  「研究成果報告書概要(欧文)」より
- Data Source
  KAKENHI-PROJECT-18560242
[Presentation] Overload Protection Mechanisms for Force Detecting Beam in a Force Sensor2007
- Author(s)
  Koyu Abe
- Organizer
  Proceedings of the 2007 IEEE International Conferenceon Mechatronics and Automation(ICMA 2007)
- Place of Presentation
  Harbin (China)
- Data Source
  KAKENHI-PROJECT-18560242
[Presentation] Optimum Notch Profile for a Slitted Force Sensor Beam to Function as an Overload Prevention Mechanism2007
- Author(s)
  Koyu Abe at all
- Organizer
  Proceedings of the 2007 Tohoku Section of the Jpan Society for Precision Engineering, pp. 55-56
- Place of Presentation
  Hachinohe(Japan) (in Japanese)
- Year and Date
  2007-12-01
- Description
  「研究成果報告書概要(欧文)」より
- Data Source
  KAKENHI-PROJECT-18560242
[Presentation] 過負荷防止機構を有するカセンサ用溝付きはりの最適溝形状2007
- Author(s)
  阿部幸勇
- Organizer
  2007年精密工学会東北支部学術講演会
- Place of Presentation
  八戸市
- Year and Date
  2007-12-01
- Data Source
  KAKENHI-PROJECT-18560242
[Presentation] 過負荷防止機構を有する力センサ用溝付きはりの最適溝形状2007
- Author(s)
  阿部幸勇, 他
- Organizer
  2007年精密工学会東北支部学術講演会
- Place of Presentation
  八戸市
- Year and Date
  2007-12-01
- Description
  「研究成果報告書概要(和文)」より
- Data Source
  KAKENHI-PROJECT-18560242
[Presentation] Overload Protection Mechanisms for Force Detecting Beam in a Force Sensor2007
- Author(s)
  Koyu Abe at all
- Organizer
  Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (ICMA2007)
- Place of Presentation
  Harbin (China)
- Year and Date
  2007-08-07
- Description
  「研究成果報告書概要(欧文)」より
- Data Source
  KAKENHI-PROJECT-18560242
[Presentation] 力検出用はりにおける過負荷防止機構2007
- Author(s)
  阿部幸勇, 他
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会'07
- Place of Presentation
  秋田市
- Year and Date
  2007-05-12
- Description
  「研究成果報告書概要(和文)」より
- Data Source
  KAKENHI-PROJECT-18560242

1. UCHIYAMA Masaru (30125504)

# of Collaborated Projects: 17 results

# of Collaborated Products: 6 results
2. KONNO Atsushi (90250688)

# of Collaborated Projects: 15 results

# of Collaborated Products: 3 results
3. TSUMAKI Yuichi (50270814)

# of Collaborated Projects: 8 results

# of Collaborated Products: 0 results
4. JIANG Xin (30451537)

# of Collaborated Projects: 7 results

# of Collaborated Products: 2 results
5. SATO Daisuke (40344692)

# of Collaborated Projects: 7 results

# of Collaborated Products: 0 results
6. NENCHEV Dragomir (80270809)

# of Collaborated Projects: 6 results

# of Collaborated Products: 0 results
7. ABIKO Satoko (40560660)

# of Collaborated Projects: 3 results

# of Collaborated Products: 1 results
8. YOON Woo-keun (40312615)

# of Collaborated Projects: 3 results

# of Collaborated Products: 0 results
9. YOSHIDA Kazuya (00191578)

# of Collaborated Projects: 2 results

# of Collaborated Products: 0 results
10. MUNAWAR Khalid (50333852)

# of Collaborated Projects: 2 results

# of Collaborated Products: 0 results
11. SHIBUKAWA Tetsuro

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
12. ピエロフランソワ

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
13. ドシェピエール

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
14. PIERROT Francois

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
15. DAUCHEZ Pierre

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
16. フランソワピエロ

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
17. ピエールドシェ

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
18. ドゥラゴミールネンチェ

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
19. 渋川哲郎

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
20. ヒルツィンガーケルド

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
21. 梅津真弓

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results

ABE Koyu 阿部 幸勇

阿部 幸男 アベ コウユウ

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Experimental Model of a Large Displacement Micro Tweezers Used for Force Display.Principal Investigator

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Development of compact size force sensing devices which uses for high directivity elasticity beamPrincipal Investigator

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Study on the unidirectional force sensitive beam structure with the overload protection mechanismPrincipal Investigator

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ABE Koyu 阿部幸勇

阿部幸男アベコウユウ