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Fundamental Research on Systematization of Welfare Control Engineering

Research Project

Project/Area Number 13450175
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionThe University of Tokyo

Principal Investigator

HORI Yoichi  Institute of Industrial Science, Professor, 生産技術研究所, 教授 (50165578)

Project Period (FY) 2001 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥15,300,000 (Direct Cost: ¥15,300,000)
Fiscal Year 2002: ¥4,400,000 (Direct Cost: ¥4,400,000)
Fiscal Year 2001: ¥10,900,000 (Direct Cost: ¥10,900,000)
KeywordsWelfare Control Engineering / Support for Aged People and Disabled People / Motion Control of Human-Machine Cooperation / Power Assist Robot / Power Assist Wheelchair / Power Limb / Monitoring System for Aged People / Monitoring System for Industrial Robot / 高齢者モニタリング / 歩行支援技術 / 移動支援技術 / 福祉機器
Research Abstract

This research aims at establishing a new field, "Welfare Control Engineering", and develops new possibilities of contribution to support technology for aged people and disabled people based on the principles of control and instrumentation engineering. The following results were achieved,
(1) Novel control scheme of power assist robot aiming at support for aged people.
Novel control scheme of power assist robot based on position / force control were proposed and experimentally examined. Effectiveness about increase of force, operationality and feedback of environmental variation for the operator were verified based on performance evaluations using the experimental subjects. Realization of force sensorless control and improvement of operationality were also discussed, and a guideline of control system design in power assist robot was clarified.
(2) Novel multifunction control system for power assist wheelchair
Novel multifunction control system for power assist wheelchair was developed. Basi … More c assist control scheme and novel control method to prevent a dangerous overturn and realize a safe wheelie motion were proposed and examined using an actually produced experimental device.
(3) Novel control and design scheme of power limb
Novel control and design scheme of power limb including trajectory estimation method to realize safe walking was proposed. Experimental analysis of the practical human walking brought us possibility to apply it to walking support with power limb.
(4) Proposal of a novel monitoring system for aged people
A novel monitoring system to detect aged people's non-daily actions using a simple camera. Significance of this system was clarified based on the investigation of related research, and detection algorithm using eigenspace method was proposed and experimentally examined In addition, it was applied to monitoring system for industrial robots and detection of abnormal movements and speed analysis in the short calculation time were realized.
Through the above discussion, the guideline of control system design in human-machine cooperative system was developed, and big possibility leading to future researches were given as the first step towards establishment of "Welfare Control Engineering", Less

Report

(3 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • Research Products

    (21 results)

All Other

All Publications (21 results)

  • [Publications] Naoki Hata, Yoichi Hori: "Basic Research on Power Limb using Variable Stiffness Mechanism"Proc. of PCC-Osaka 2002. 917-920 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Naoki Hata, Yoichi Hori: "Basic Research on Power Limb Using Gait Information of Able-Side Leg"Proc. of AMC 2002. 540-545 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 関 弘和, 堀 洋一: "環境変動にロバストな力センサレスパワーアシストロポットの制御"平成14年電気学会産業応用部門大会. Vol.1. 213 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hirokazu Seki, Masahito Iso, Yoichi Hori: "How to Design Force Sensorless Power Assist Robot Considering Environmental Characteristics"Proc. of IEEE-IECON. 2255-2260 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 畠 直輝, 堀 洋一: "受動歩行を応用した歩行支援型装具の実現"日本機械学会第2回福祉工学シンポジウム. 163-166 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 小安雄一, 畠 直輝, 関 弘和, 堀 洋一: "パワーアシスト車椅子における後方転倒現象の解析とその制御"電気学会産業計測制御研究会. IIC-03-51. (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Naoki Hata, and Yoichi Hori: "Basic Research on Power Umb using Variable Stiffness Mechanism"Proc. Of PCC-Osaka 2002. 917-920 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hirokazu Sekl, Masahito Iso, and Yoichi Hori: "How to Design Force Sensoriess Power Assist Robot Considering Environmental Characteristics"Proc. of IEEE-IECON. 2255-2260 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Naoki Hata, and Yoichi Hori: "Basic Research on Power Limb Using Gait Information of Able-Side Leg"Proc. of AMC 2002. 540-545 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Naoki Hata, Yoichi Hori: "Basic Research on Power Limb using Variable Stiffness Mechanism"Proc. of PCC-Osaka 2002. (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Naoki Hata, Yoichi Hori: "Basic Research on Power Limb Using Gait Information of Able-Side Leg"Proc. of AMC 2002. 540-545 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 関 弘和, 堀 洋一: "環境変動にロバストな力センサレスパワーアシストロボットの制御"平成14年電気学会産業応用部門大会. No.27. (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Hirokazu Seki, Masahito Iso, Yoichi Hori: "How to Design Force Sensorless Power Assist Robot Considering Environmental Characteristics"Proc. of IEEE-IECON. (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 畠 直輝, 堀 洋一: "受動歩行を応用した歩行支援型装具の実現"日本機械学会第2回福祉工学シンポジウム. (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 小安雄一, 畠 直輝, 関 弘和, 堀 洋一: "パワーアシスト車椅子における後方転倒現象の解析とその制御"電気学会産業計測制御研究会. IIC-03-51. (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] 関 弘和, 堀 洋一: "可変インピーダンスを用いたセンサレスパワーアシストロボットの制御"平成13年電気学会産業応用部門大会. No.93. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 畠 直輝, 堀 洋一: "新しい動力義足の基礎研究-歩容設計と可変剛性機構の導入-"平成13年電気学会産業応用部門大会. No.91. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Hirokazu Seki, Yoichi Hori: "Detection of Abnormal Movement of Industrial Robots using Image Sequence"Proc. of IEEE IECON 2001 (organized session). (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 関 弘和, 堀 洋一: "高齢者モニタリングのためのカメラ画像を用いた異常動作検出"電気学会産業応用部門誌. Vol.122-D No.2. 181-188 (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] 佐藤仁彦, 関 弘和, 畠 直輝, 堀 洋一: "パワーアシスト車椅子におけるウィリー機能の実現"電気学会産業計測制御研究会. IIC-02-41. (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] 磯 将人, 関 弘和, 堀 洋一: "負荷特性に応じたインピーダンス制御を用いたセンサレスパワーアシスト法"電気学会産業計測制御研究会. IIC-02-40. (2002)

    • Related Report
      2001 Annual Research Report

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Published: 2001-04-01   Modified: 2016-04-21  

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