The most common life-threatening issue in heavy snowfall regions is human casualties caused by snow damage, particularly accidents during snow-removal operations, such as roof snow clearing. This study aims to develop a telescopic convex tape expansion mechanism to prevent such accidents. We constructed and evaluated a prototype telescopic mechanism (Makijaku-Ude Type-Super K) featuring a reduced number of parts and eliminating springs. The results confirm its ability to withstand stronger snow loads during operation. The robot system, named Setsu-ichi, equipped with two Type-SK units, successfully completed snow-removal operations over a distance of approximately 7 meters.

1. [1] S. Nishida, “Snow Removal Device,” Patent No.EP1881127A1, US2007‑0205308A1, 2007.
2. [2] B. P. Jelle, “The challenge of removing snow downfall on photovoltaic solar cell roofs in order to maximize solar energy efficiency—Research opportunities for the future,” Energy and Buildings, Vol.67, pp. 334-351, 2013. https://doi.org/10.1016/j.enbuild.2013.08.010
3. [3] J. Wu et al., “Autonomous Robotic System for Snow Removal in Large-Scale Photovoltaic Arrays,” IEEE Access, Vol.13, pp. 141547-141559, 2025. https://doi.org/10.1109/ACCESS.2025.3597534
4. [4] A. Chatten et al., “Vehicle Roof Snow Removal,” Patent No.US2019/0210573 A1, 2019.
5. [5] T. Saito, “Manipulator Mechanism,” Patent No.PCT/JO2007/066233, 2007.
6. [6] T. K. Saito et al., “300-N Class Convex-Based Telescopic Manipulator and Trial for 3-DOF Parallel Mechanism Robot,” J. Robot. Mechatron., Vol.33, No.1, pp. 141-150, 2021. https://doi.org/10.20965/jrm.2021.p0141
7. [7] H. A. Farrand, “Rule,” US Patent 1,402,589, 1922.
8. [8] W. Dubilier, “Collapsible Rod,” US Patent 2,130,993, 1938.
9. [9] A. H. Bohr et al., “Extensible and Retractable Member,” US Patent 3,213,573, 1965.
10. [10] D. S. Crouch, “Mars viking surface sampler subsystem,” Proc. of the 25th Conf. on Remote Systems Technology, pp. 141-152, 1977.
11. [11] L. H. Widegren, “Extensible Jib, Mast or the Like,” US Patent 3,371,801, 1968.
12. [12] C. D. Woodruff and G. E. Woodruff, “Apparatus and Methods for Providing Aretractable Mast,” US Patent 9,267,640, 2016.
13. [13] K. Sekino et al., “Ultrawide Telescopic Actuator for Haptics Presentation based on Clustered and Elastic Convex Tapes,” 2022 Int. Conf. on Advanced Mechatronic Systems (ICAMechS2022), pp. 174-177, 2022. https://doi.org/10.1109/ICAMechS57222.2022.10003342
14. [14] K. Inomata et al., “Wide Range and Highly Durable Telescopic Manipulator Mechanism by Aggregated Convexes,” The Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomech2013), Article No.1P1-P22, 2013 (in Japanese). https://doi.org/10.1299/jsmermd.2013._1P1-P22_1
15. [15] T. K. Saito et al., “Roof Snow Removal System with Wide Range Telescopic Manipulator Mechanism,” The Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomech2016), Article No.2P2-09b1, 2016 (in Japanese). https://doi.org/10.1299/jsmermd.2016.2P2-09b1
16. [16] K. Kobayashi et al., “8-meter Class Long Convex Tape Based Telescopic Mechanism for Roof Snow Removal Robot,” The Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomech2025), Article No.1A1-D11, 2025 (in Japanese). https://doi.org/10.1299/jsmermd.2025.1A1-D11
17. [17] T. K. Saito et al., “Convex Tape Based Telescopic Cane for Life Support,” The Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomech2025), Article No.1P1-G12, 2025 (in Japanese). https://doi.org/10.1299/jsmermd.2025.1P1-G12
18. [18] T. Nakamura, Y. Akamatsu, and Y. Kusaka, “Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment,” J. Robot. Mechatron., Vol.20, No.4, pp. 634-640, 2008. https://doi.org/10.20965/jrm.2008.p0634
19. [19] J. Tanaka, “Vacuum End Effector Equipped with an Expansion and Contraction Mechanism Using a Wound Thin Metal Plate,” J. Robot. Mechatron., Vol.34, No.2, pp. 430-443, 2022. https://doi.org/10.20965/jrm.2022.p0430
20. [20] T. Sekine et al., “Landing Impact Simulation of a One-Legged Robot with a Series Elastic Actuator,” J. Robot. Mechatron., Vol.37, No.3, pp. 627-636, 2025. https://doi.org/10.20965/jrm.2025.p0627
21. [21] S.-P. Jung et al., “Foldable and rollable interlaced structure for deployable robotic systems,” Sci. Robot., Vol.10, No.108, Article No.eadv4696, 2025. https://doi.org/10.1126/scirobotics.adv4696
22. [22] “Status of Implementation of Measures for Heavy Snowfall Areas, Ministry of Land, Infrastructure, Transport and Tourism, Japan, February 2025,” (in Japanese). https://www.mlit.go.jp/policy/shingikai/content/001864515.pdf [Accessed January 10, 2026]