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Development of Personal Adaptable Intelligent Power Assisting System

Research Project

Project/Area Number 11835002
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research InstitutionHOKKAIDO UNIVERSITY

Principal Investigator

NARUSE Keitaro  HOKKAIDO Univ.Grad.School of Eng., Inst., 大学院・工学研究科, 助手 (10301938)

Co-Investigator(Kenkyū-buntansha) YOKOI Hiroshi  HOKKAIDO Univ.Grad.School of Eng., Asso.Prof., 大学院・工学研究科, 助教授 (90271634)
KAKAZU Yukinori  HOKKAIDO Univ.Grad.School of Eng., Prof., 大学院・工学研究科, 教授 (60042090)
Project Period (FY) 1999 – 2000
Project Status Completed (Fiscal Year 2000)
Budget Amount *help
¥4,000,000 (Direct Cost: ¥4,000,000)
Fiscal Year 2000: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 1999: ¥2,800,000 (Direct Cost: ¥2,800,000)
KeywordsPower assisting system / Force control / Electricmiogram (EMG) / Neural network / Human centered robotics / Motion perception
Research Abstract

In this research project, the following three topics have been developed and investigated in order to realize the personal adaptable intelligent power assisting system.
(i) Force control based on motion perception using Electricmiogram (EMG) signals
In this system, it is necessary to consider an internal state of a human operator such as fatigue and slight changes of motion pattern, as well as conventional physical load. In this project, the method of representing the internal state with the EMG signals has been developed. Furthermore, the force control method with the internal state has been developed and verified.
(ii) Modeling and analysis of individual motion perception
Utilizing motion perception ability of an individual human operator, the power assisting system can become easier system to handle for him. In this project, we have focused on the system of wrist-elbow with three degrees of freedom, and we have investigated and modeled the interaction among the system. In addition, we have proposed the control system using the individual motion perception, and we have verified it.
(iii) Development of power assisting device and its control
We have developed two kinds of power assisting devices. The first one is a lightweight wearable one DOF device, and the other one is an external device of one DOF transnational motion. We have developed the personal adaptable control scheme by refining the above two control schemes, and we have applied it to the two devices. As a result, we have confirmed that the personal adaptable intelligent power assisting system, which can follow an arbitrary motion of a human operator with assisting force or torque, is achieved.

Report

(3 results)
  • 2000 Annual Research Report   Final Research Report Summary
  • 1999 Annual Research Report
  • Research Products

    (20 results)

All Other

All Publications (20 results)

  • [Publications] Hayashi: "Analysis of Resolution of Elbow Joint Rotation with Visual Information,"Proc.of the Tenth International Conference on Artificial Reality and Telexistance. 72-83 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Kita: "Control of Force Display Device by the Force Sensing System using EMG"Proc.of the Tenth International Conference on Artificial Reality and Telexistance. 153-160 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Naruse: "Force feedback device control utilizing human sensation errors"Proc.of the 9th Int'l Conf.on Artificial Reality and Telexistance. 202-207 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Naruse: "Development of EMG based force sensing system in virtual reality system"Proc.of The Ninth International Conference on Advanced Robotics. 185-190 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Tohru Hayashi, Keitaro Naruse, Hiroshi Yokoi, Yukinori Kakazu: "Analysis of Resolution of Elbow Joint Rotation with Visual Information"Proc.of the Tenth International Conference on Artificial Reality and Telexistance. 72-83 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Hideo Kita, Keitaro Naruse, Hiroshi Yokoi, Yukihiro Kakazu: "Control of Force Display Device by the Force Sensing System using EMG"Proc.of the Tenth International Conference on Artificial Reality and Telexistance. 153-160 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Keitaro Naruse, Tohru Hayashi, Hideo Kita, Hiroshi Yokoi and Yukinori Kakazu: "Force feedback device control utilizing human sensation errors"Proc.of The Ninth International Conference on Artificial Reality and Telexistance. 202-207 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Keitaro Naruse, Hideo Kita, Tohru Hayashi, Hiroshi Yokoi and Yukinori Kakazu: "Development of EMG based force sensing system in virtual reality system"Proc.of The Ninth International Conference on Advanced Robotics. 185-190 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Nishikawa: "On-line Learning Based Electromyogram to Forearm Motion Classifier with Motor Skill Evaluation"JSME International Journal Series C. 43・4. 906-915 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Hayashi: "Analysis of Resolution of Elbow Joint Rotation with Visual Information,"Proc.of the Tenth International Conference on Artificial Reality and Telexistance. 72-83 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Kita: "Control of Force Display Device by the Force Sensing System using EMG"Proc.of the Tenth International Conference on Artificial Reality and Telexistance. 153-160 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Nishikawa: "On-line Learning Based EMG Prosthetic Hand"The XIII Congress of International Society of Electrophysiology and Kinesiology (ISEK2000). 575-580 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Naruse,Hayashi,Kita,Yokoi,Kakazu: "Force feedback device control utilizing human sensation errors"Proc. of the 9th Int'l Conf. on Artificial Reality and Telexistance. 202-207 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] Naruse,Kita,Hayashi,Yokoi,Kakazu: "Development of EMG based force sensing system in virtual reality system"Proc. of The Ninth International Conference on Advanced Robotics. 185-190 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 林 成瀬、横井 嘉数: "装着型力覚提示装置のたまの感覚特性の計測"ロボティクス・メカトロニクス講演会'99講演論文集. 2P1-34-034(1)-(2) (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 林 成瀬、横井 嘉数: "力覚提示装置用力センサシステムのためのEMGと力および姿勢の関係の解析"ロボティクス・メカトロニクス講演会'99講演論文集. 1P1-01-005(1)-(2) (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 林 成瀬、横井 嘉数: "力覚提示装置の力センサシステムの構築"日本バーチャルリアリティ学会第4回大会論文集. 413-414 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 林 成瀬、横井 嘉数: "視覚情報に伴う肘関節の空間位置分解能の特性の変化"日本バーチャルリアリティ学会第4回大会論文集. 195-196 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 林 成瀬、横井 嘉数: "生体信号を用いたヒューマンインタフェースの開発-EMGと力・姿勢の解析-"情報処理北海道シンポジウム99講演論文集. 121-122 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 林 成瀬、横井 嘉数: "人間の感覚に対応した情報処理システムのため'ずれ'の計測"情報処理北海道シンポジウム99講演論文集. 139-140 (1999)

    • Related Report
      1999 Annual Research Report

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Published: 1999-04-01   Modified: 2016-04-21  

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