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Interactive Powered Suit and Mobility Promotion

Research Project

Project/Area Number 14205062
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionUniversity of Tsukuba

Principal Investigator

SANKAI Yoshiyuki  University of Tsukuba, Graduate School of Systems and Information Engineering, Professor, 大学院・システム情報工学研究科, 教授 (30183833)

Co-Investigator(Kenkyū-buntansha) KUZUOKA Hideaki  University of Tsukuba, Graduate School of Systems and Information Engineering, Associate Professor, 大学院・システム情報工学研究科, 助教授 (10241796)
YASUNOBU Seiji  University of Tsukuba, Graduate School of Systems and Information Engineering, Professor, 大学院・システム情報工学研究科, 教授 (00241795)
KUNO Shinya  University of Tsukuba, Graduate School of Comprehensive Human Sciences, Associate Professor, 大学院・人間総合科学研究科, 助教授 (70242021)
Project Period (FY) 2002 – 2004
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥40,690,000 (Direct Cost: ¥31,300,000、Indirect Cost: ¥9,390,000)
Fiscal Year 2004: ¥9,620,000 (Direct Cost: ¥7,400,000、Indirect Cost: ¥2,220,000)
Fiscal Year 2003: ¥11,700,000 (Direct Cost: ¥9,000,000、Indirect Cost: ¥2,700,000)
Fiscal Year 2002: ¥19,370,000 (Direct Cost: ¥14,900,000、Indirect Cost: ¥4,470,000)
Keywordspowered suit / mobility promotion / interactive / human factor / physical and physiological parameter identification / ロボットスーツ / モビリティ / パワーアシスト / マスタ・スレーブシステム / バイラテラルサーボ / 医療福祉 / モビリティ増進
Research Abstract

During the research periods, we developed the hybrid assistive limbs in order to solve the problems in the medical/welfare, i.e.,"the bedridden problem of the aged society. In this research, we promoted and performed the research on the fundamental technology of powered suit/robot suit and on the mobility promotion for the lower half of body, focusing on the "Interactive function"and"Mobility promotion of leg", among the powered suit (robot suit), the gait disorder person (aged person) and the physical therapist (doctor). In consequence, we could furthermore develop the leading edge of the technology in hybrid assistive technology. The research performances in this research project are as follows.
1)Development of the interactive powered suit iHAL as the research platform.
2)Development of the interactive communication function and the interaction technology between human and powered suit, and the installation of the master-slave control system
3)Development of the estimation method of the human's motion property by using the parameter identification considering the human factor
4)Development of the interactive control system for the hybrid assistive powered suit which consists of Phase sequence method and Bio-feedback system
5)Promotion of the mobility of the leg for the human-powered suit system
6)Trial of the clinical experiment for the patient with paralysis on the lower half of body, supported by the physical therapist
7)Trial of the clinical experiment using the caster walker for the patient with one side (almost both sides) paralysis, and considerations of mobility index as the assist ratio
We could achieve the main purposes of this research project according to the research schedule.

Report

(4 results)
  • 2004 Annual Research Report   Final Research Report Summary
  • 2003 Annual Research Report
  • 2002 Annual Research Report
  • Research Products

    (59 results)

All 2005 2004 2003 2002 Other

All Journal Article (45 results) Publications (14 results)

  • [Journal Article] Power Assist Method Based on Phase Sequewnce and Muscle Force Condition for HAL2005

    • Author(s)
      Kawamoto H., Sankai Y.
    • Journal Title

      International Journal of Advanced Robotics (in press)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 装着型下肢用パワーアシストシステムによる振り運動での仮想インピーダンス調整に関する研究2005

    • Author(s)
      李, 山海
    • Journal Title

      日本機械学会論文集C編 (印刷中)

    • NAID

      110006264717

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Virtual Impedance Adjustment in Unconstrained Motion for Exoskeletal Robot Assisting Lower Limb2005

    • Author(s)
      Lee S., Sankai Y.
    • Journal Title

      International Journal of Advanced Robotics (in press)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Estimation of Physiologic Strategy based on Mathematical Model for assisting and substituting Cardiac Functions for Robotic Artificial Heart2005

    • Author(s)
      Kosaka R., Sankai Y., et al.
    • Journal Title

      International Journal of Advanced Robotics (in press)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Adjustment of Virtual Impedance for the Swing Motion by the Power Assist system for Lower Half of Body2005

    • Author(s)
      Lee S., Sankai Y.
    • Journal Title

      Journal of the Japan Society of Mechanical Engineers, Series C (in press)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Virtual Impedance Adjustment in Unconstrained Motion for Exoskeletal Robot Assisting Lower Limb2005

    • Author(s)
      Lee S., Sankai Y.
    • Journal Title

      Advanced Robotics (掲載予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Estimation of Physiologic Strategy based on Mathematical Model for assisting and substituting Cardiac Functions for Robotic Artificial Heart2005

    • Author(s)
      Kosaka R., Sankai Y., Takiya R., Yamane T., Tsutsui T.
    • Journal Title

      Advanced Robotics (掲載予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 装着型下肢用パワーアシストシステムによる振り運動での仮想インピーダンス調整に関する研究2005

    • Author(s)
      李秀雄, 山海嘉之
    • Journal Title

      日本機械学会論文集(C編) (掲載予定)

    • NAID

      110006264717

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 3D-Link Dynamics Simulator Based On N-Single Particle Movement2005

    • Author(s)
      H.Toda, Y.Sankai
    • Journal Title

      Advanced Robotics (掲載予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 人間の運動特性に基づいたパワーアシストシステムのための定量的運動制御解析手法2004

    • Author(s)
      河本, 山海
    • Journal Title

      日本機械学会論文集(C編) 70(692)

      Pages: 1115-1123

    • NAID

      110006263855

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Interactive Task Generation for Humanoid Robot Based on Human Motion Strategy2004

    • Author(s)
      Kim S., Imai H., Sankai Y.
    • Journal Title

      Proc.of 13th IEEE International Workshop on Robot and Human Interactive Communication R0-MAN 2004

      Pages: 485-490

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Power Assist Method Based on Phase Sequence Driven by Interaction between Human and Robot Suit2004

    • Author(s)
      Kawamoto H., Sankai Y.
    • Journal Title

      Proc.of 13th IEEE International Workshop on Robot and Human Interactive Communication RO-MAN 2004

      Pages: 491-496

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Resonant frequency control for artificial heart using online parameter identification2004

    • Author(s)
      Kosaka R., Sankai Y., et al.
    • Journal Title

      Journal of Artificial Organs 28(10)

      Pages: 921-926

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Quantitative Motion Analysis Method for Power Assist System Based on Human Property2004

    • Author(s)
      Kawamoto H., Sankai Y.
    • Journal Title

      Journal of the Japan Society of Mechanical Engineers, Series C 70(692)

      Pages: 1115-1123

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Interactive Task Generation for Humanoid Robot Based on Human Motion Strategy2004

    • Author(s)
      Kim S., Imai H., Sankai Y.
    • Journal Title

      Prof.of 13th IEEE International Workshop on Robot and Human Interactive Communication RO-MAN 2004

      Pages: 485-490

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 人間の運動特性に基づいたパワーアシストシステムのための定量的運動制御解析手法2004

    • Author(s)
      河本浩明, 山海嘉之
    • Journal Title

      日本機械学会論文集(C編) 70巻,692号

      Pages: 1115-1123

    • NAID

      110006263855

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Interactive Task Generation for Humanoid Robot Based on Human Motion Strategy2004

    • Author(s)
      Kim S., Imai H., Sankai Y.
    • Journal Title

      Proc.of Workshop Robot and Human Interactive Communication (RO-MAN2004) (CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Power Assist Method Based on Phase Sequence Driven by Interaction between Human and Robot Suit2004

    • Author(s)
      Kawamoto H., Sakai Y.
    • Journal Title

      Proc.of Workshop Robot and Human Interactive Communication (RO-MAN2004) (CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Development of Intelligent Wearable Management Server for Artificial Heart Treatment", International Society for Rotary Blood Pumps2004

    • Author(s)
      Ichihashi F., Sankai Y., Yamane T., Shigeta O., Tsutsui T.
    • Journal Title

      ISRBP2004

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Failure Detection by an Index based on Artificial Heart's Vibration2004

    • Author(s)
      Kuwabara.T, Tsujimura.S, Koguchi.H, Yamane.T, Tsutsui.T, Sankai.Y
    • Journal Title

      ISRBP2004

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Power Assist Method for HAL-3 using EMG-based Feedback Control2003

    • Author(s)
      Lee S., Sankai Y.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2003

      Pages: 1645-1659

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Comfortable Power Assist Control Method for Walking Aid by HAL-32003

    • Author(s)
      Kawamoto H., Sankai Y.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2003

      Pages: 1648-1653

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Gait Control Human and Humanoid on Irregular Terrain Considering Interaction with Environment2003

    • Author(s)
      Suzuki K., Imai H., Kawamura Y., Sankai Y.
    • Journal Title

      Proc.of 12th IEEE Workshop on Robot and Human Interactive Communication RO-MAN 2003

      Pages: 277-284

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 人間機械系におけるモデリングとインタラクティブシミュレーション2003

    • Author(s)
      山海
    • Journal Title

      バイオメカニズム学会 27(4)

      Pages: 186-191

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Tsukuba Remote Monitoring System for Continuous-Flow Artificial Heart2003

    • Author(s)
      Kosaka R., Sankai Y., et al.
    • Journal Title

      Journal of Artificial Organs 27(10)

      Pages: 897-906

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Development of Built-in-type and Noninvasive Sensor System for Smart Artificial Heart(SAH)2003

    • Author(s)
      Yamagishi H., Sankai Y., et al.
    • Journal Title

      ASAIO Journal 49(3)

      Pages: 265-270

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Power Assist Method for HAL-3 Estimating Operator's Intension Based on Motion Information2003

    • Author(s)
      Kawamoto H., Kanbe S., Sankai Y.
    • Journal Title

      Proc.of 12th IEEE Workshop on Robot and Human Interactive Communication RO-MAN 2003

      Pages: 67-72

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Trajectory formation of arm movement by a single particle approximation strategy inspired from biological reaching movement2003

    • Author(s)
      Toda H., Sankai Y.
    • Journal Title

      Proc.Of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2003

      Pages: 1419-1424

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Modeling of Human-Machine System and Interactive Simulator2003

    • Author(s)
      Sankai Y.
    • Journal Title

      Journal of Society of Biomechanism 27(4)

      Pages: 186-191

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Online Parameter Identification for Second Order Physiological Systemic Circulation Model using Delta-Operator2002

    • Author(s)
      Kosaka R., Sankai Y.
    • Journal Title

      Journal of Artificial Organs 26(11)

      Pages: 967-970

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Online Parameter Identification of Systemic Circulation using Delta-Operator2002

    • Author(s)
      Kosaka R., Sankai Y.
    • Journal Title

      Journal of Artificial Organs 26(8)

      Pages: 723-726

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Comfortable Power Assist Control Method for Walking Aid by HAL-32002

    • Author(s)
      Kawamoto H., Sankai Y.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2002(CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Construction of a mind model for human-robot cooperation2002

    • Author(s)
      Hayashi T., Sankai Y., Ohta M.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2002(CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Humanoid control method based on human knack for human care service2002

    • Author(s)
      Kawamura Y., Sankai Y.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2002(CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Power assist control for leg with hal-3 based on virtual torque and impedance adjustment2002

    • Author(s)
      Lee S., Sankai Y.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2002(CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Biologically Inspired Control Laws for Trajectory Formation and Generating Motor Command in Multi-joint Manipulator Movement2002

    • Author(s)
      Toda H., Sankai Y.
    • Journal Title

      Proc.of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS2002

      Pages: 2037-2042

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Power Assist Control for Walking Aid with HAL-3 Based on EMG and Impedance Adjustment around Knee Joint2002

    • Author(s)
      Lee S., Sankai Y.
    • Journal Title

      Proc.of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS2002

      Pages: 1469-1474

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Power Assist System HAL-3 for Gait Disorder Person2002

    • Author(s)
      Kawamoto H., Sankai Y.
    • Journal Title

      Proc.Of ICCHP (International Conference on Computers Helping People with Special Needs) ICCHP2002

      Pages: 196-203

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Human Motion Oriented Control Method for Humanoid Robot2002

    • Author(s)
      Imai H., Nozawa M., Kawamura Y., Sankai Y.
    • Journal Title

      Proc.of 12th IEEE Workshop on Robot and Human Interactive Communication RO-MAN2002

      Pages: 211-216

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] A Proposal of Effective Motion Learning Method Using sensory Feedback for Walk-Disabled People2002

    • Author(s)
      Ohyama J., Sankai Y.
    • Journal Title

      Proc.Of ICCHP (International Conference on Computers Helping People with Special Needs) ICCHP2002

      Pages: 220-225

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Control Method of Walking Speed and Step Length for Hybrid Assistive Leg2002

    • Author(s)
      Nozawa M., Sankai Y.
    • Journal Title

      Proc.Of ICCHP (International Conference on Computers Helping People with Special Needs) ICCHP2002

      Pages: 212-219

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Comfortable Power Assist Control Method for Walking Aid by HAL-32002

    • Author(s)
      Kawamoto H., Sankai Y.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2002, TP1B2 (CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Construction of a mind model for human-robot cooperation2002

    • Author(s)
      Hayashi T., Sankai Y., Ohta M.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2002, TPIN5 (CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Humanoid control method based on human knack for human care service2002

    • Author(s)
      Kawamura Y., Sankai Y.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2002, TP1B4 (CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Power assist control for leg with hal-3 based on virtual torque and impedance adjustment2002

    • Author(s)
      Lee S., Sankai Y.
    • Journal Title

      Proc.of IEEE International Conference on Systems, Man and Cybernetics SMC2002, TPIB3 (CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Publications] 山海嘉之: "人間機械系にけるモデリングとインタラクティブシミュレーション"バイオメカニズム学会. 27・4. 186-191 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Suzuki K, Imai H, Kawamura Y, Sankai Y: "Gait Control Human and Humanoid on Irregular Terrain Considering Interaction with Environment"ROMAN (Proc.of IEEE Workshop on Robot and Human Interactive Communication). (CD-ROM Session5-TrackA). (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Kawamoto H, Kanbe S, Sankai Y: "Power Assist Method for HAL-3 Estimating Operator's Intension Based on Motion Information"ROMAN (Proc.of 12th IEEE Workshop on Robot and Human Interactive Communication). (CD-ROM Session2-TrackA). (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] H.Toda Y.Sankai: "Trajectory formation of arm movement by a single particle approximation strategy inspired from biological reaching movement"Proc.of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. (CD-ROM). (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Kawamoto H, Lee S, Kanbe S, Sankai Y: "Power Assist Method for HAL-3 using EMG-based Feedback Controller"SMC (Proc.of 2003 IEEE International Conference on System, Man, Cybernetics). (CD-ROM). 1648-1653 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Hayashi T: "Construction of a mind model for human-robot cooperation"Proc. of IEEE SMC. (CD-ROM). TPIB5 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Lee s: "Power assist control for leg with HAL-3 based on virtual torgue and impedance adjustment"Proc. of IEEE SMC. (CD-ROM). TPIB3 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Kawamoto H: "Confortable Power Assist Control Method for Walking Aid by HAL-3"Proc. of IEEE SMC. (CD-ROM). TPIB2 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Toda H: "Biologically Inspired Control Laws for Trajectory Formation and Generating Moror Command in Multi-joint Manipulator Movement"Proc. of IRCS. 2037-2042 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Lee S: "Power Assist Control for Walking Aid with HAL-3 Based on EMG and Impedance Adjustment ground knee joint"Proc. of IRCS. 1499-1504 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Kawamoto H: "Power Assist System HAL-3 for Gait Disorder Person"Proc. of ICCHP. 196-203 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Imai H: "Human Motion Oriented Control Method for Humanoid Robot"Proc. of IEEE ROMAN. 211-216 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Ohyama J: "A Proposal of Effective Motion Learning Method Using Sensory Feedback for Walk-Disabled People"Proc. of ICCHP. 220-225 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Nozawa M: "Control Method of Walking Speed and Step Length for Hybrid Assistive Leg"Proc. of ICCHP. 212-219 (2002)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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