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Co-creative human support robot "Walk-Mate" and its application to elderly people

Research Project

Project/Area Number 14350226
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionTokyo Institute of Technology

Principal Investigator

MIYAKE Yoshihiro  Tokyo Institute of Technology, Interdisciplinary Graduate School of Science and Engineering, Associate Professor, 大学院・総合理工学研究科, 助教授 (20219752)

Project Period (FY) 2002 – 2004
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥12,000,000 (Direct Cost: ¥12,000,000)
Fiscal Year 2004: ¥3,800,000 (Direct Cost: ¥3,800,000)
Fiscal Year 2003: ¥3,800,000 (Direct Cost: ¥3,800,000)
Fiscal Year 2002: ¥4,400,000 (Direct Cost: ¥4,400,000)
KeywordsHuman Interface / Co-creation system / Walking assist / entrainment / Walk rhythm / インタフェース / マン・マシンインタラクション
Research Abstract

We are studying the gait disorder as a problem of the self-organization of a spatio-temporal movement pattern in the interaction between the environment and the body. And, based on this framework, we have proposed Walk-Mate as co-creative walking assist system. However, a systematic investigation has not been done for an actual gait disorder. From these backgrounds, we applied Walk-Mate to the gait disorder person, and examining effectiveness in the walking assist and rehabilitation. The following two problems were studied.
(1)Construction of Walk-Mate for the elderly people
First in this research, Walk-Mate was reconstructed as a wearable system and the usability was improved.
(2)Evaluation of effectiveness to the elderly people
The effectiveness of walk-Mate for elderly people was evaluated from the viewpoint of dynamical system and its stability.
As a result, it succeeded in the construction of a wearable Walk-Mate system for elderly people by using the acceleration sensor in 2002. It started the systematic investigation of effectiveness by using the new Walk-Mate in 2003. And, the evaluation index of the gait disorder as a dynamical disease was developed based on the concept of the dynamical system in 2004. Concretely, data of the hip joint disease that was one of the musculoskeletal system troubles was acquired and analyzed intensively. Finally, effectiveness was confirmed to 50 patients statistically.

Report

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

    (32 results)

All 2005 2004 2003 2002 Other

All Journal Article (18 results) Book (2 results) Publications (12 results)

  • [Journal Article] 運動学的解析による歩行介助ロボット"Walk-Mate"の有効性評価2005

    • Author(s)
      小林哲平, 三宅美博, 和田義明, 松原正明
    • Journal Title

      第17回自律分散システム・シンポジウム資料

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 歩行介助における共創出プロセスの解析2004

    • Author(s)
      武藤剛, 三宅美博
    • Journal Title

      計測自動制御学会論文集 40(8)

      Pages: 873-875

    • NAID

      10013467976

    • 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-人間協調歩行系における共創出プロセスの解析2004

    • Author(s)
      武藤剛, 三宅美博
    • Journal Title

      計測自動制御学会論文集 40(5)

      Pages: 554-562

    • NAID

      10012934060

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Analysis of co-emergence process in walking support.2004

    • Author(s)
      Takeshi MUTO, Yoshihiro MIYAKE
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers vol.40, no.8

      Pages: 873-875

    • NAID

      10013467976

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Analysis of the co-emergence process on human-human cooperative walk.2004

    • Author(s)
      Takeshi MUTO, Yoshihiro MIYAKE
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers vol.40, no.5

      Pages: 554-562

    • NAID

      10012934060

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 運動学的解析による歩行介助ロボットWalk-Mateの有効性評価2004

    • Author(s)
      小林哲平, 三宅美博
    • Journal Title

      ヒューマンインタフェースシンポジウム2004講演会予稿集

      Pages: 1144-1144

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 相互引き込みモデルを用いたアンサンブルシステムの開発2004

    • Author(s)
      小林 洋平, 三宅 美博
    • Journal Title

      計測自動制御学会論文集 Vol.40, No.9

      Pages: 948-957

    • NAID

      10013580970

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 音楽アンサンブルにおけるタイムラグの影響2004

    • Author(s)
      小林洋平, 永田洋一, 三宅美博
    • Journal Title

      計測自動制御学会論文集 Vol.40, No.8

      Pages: 876-878

    • NAID

      10013467983

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Co-Creative Walking Support as Music Therapy2004

    • Author(s)
      Kurizuka, Y., Miyake, Y., Kobayashi, Y.
    • Journal Title

      Proc. of 13th IEEE Int. Workshop on Robot and Human Interactive Communication (ROMAN2004) No.289

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Walking Support System as Musical Exercise Therapy2004

    • Author(s)
      Kurizuka, Y., Miyake, Y., Kobayashi, Y.
    • Journal Title

      Proc. of SICE Annual Conference 2004

      Pages: 2693-2697

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 共創型介助ロボット"Walk-Mate"の歩行障害への適用2003

    • Author(s)
      高梨豪也, 三宅美博
    • Journal Title

      計測自動制御学会論文集 39(1)

      Pages: 74-81

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Co-emergence robot Walk-Mate and its support for elderly people.2003

    • Author(s)
      TAKANASHI, Yoshihiro MIYAKE
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers vol.39, no.1

      Pages: 74-81

    • NAID

      10010248596

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Man-machine interaction as co-creation process2002

    • Author(s)
      Miyake, Y., Miyagawa, T., Tamura, Y.
    • Journal Title

      Transaction of the Society of Instrument and Control Engineers E-2

      Pages: 195-206

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 歩行介助を目的とする人間-ロボット強調系における共創出過程の解析2002

    • Author(s)
      武藤剛, 三宅美博
    • Journal Title

      計測自動制御学会論文集 38(3)

      Pages: 316-323

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Man-machine interaction as co-creation process.2002

    • Author(s)
      Miyake, Y., Miyagawa, T., Tamura, Y.
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers vol.E-2

      Pages: 195-206

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Analysis of co-emergence process on the human-robot cooperation for walk-support.2002

    • Author(s)
      TAKANASHI, Yoshihiro MIYAKE
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers vol.38, no.3

      Pages: 316-323

    • NAID

      10007961232

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 歩行介助システムWalk-Mateの時間的・運動力学的な有効性評価

    • Author(s)
      渥美将利, 三宅美博, 國見ゆみ子, 野村進, 別府政敏
    • Journal Title

      計測自動制御学会論文集 (in press)

    • NAID

      10015471632

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Temporal and kinematic estimation of walking support system "Walk-Mate".

    • Author(s)
      Yoshihiro MIYAKE, Yumiko KUNIMI, Susumu NOMURA, Masatoshi BEPPU
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers (in press)

    • NAID

      10015471632

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Book] 共創とは何か(分担:"人と人工物の共創システム"第2章2004

    • Author(s)
      三宅美博
    • Total Pages
      29
    • Publisher
      培風館
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Book] What is co-creation? (Chapter 2 : "Co-creation between human and machine")2004

    • Author(s)
      Yoshihiro MIYAKE
    • Publisher
      Baifukan pub., Tokyo
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Publications] Miyake, Y., Miyagawa, T., Tamura, Y.: "Man-machine interaction as co-creation process"Transaction of the Society of Instrument and Control Engineers. Vol.E-2(in press). (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] 武藤剛, 三宅美博: "人間-人間協調歩行系における共創出プロセスの解析"計測自動制御学会論文集. (in press). (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] 高梨豪也, 三宅美博: "共創型介助ロボット"Walk-Mate"の歩行障害への適用"計測自動制御学会論文集. Vol.39、no.1. 74-81 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Muto, T., Miyake, Y.: "Co-emergence process on the humans' cooperations"Proc.of 12^<th> IEEE Int.Workshop on Robot and Human Interactive Communication (ROMAN2003). No.325. 1-6 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 山本知仁, 三宅美博: "共同演奏における演奏者間コミュニケーションの解析"計測自動制御学会論文集. (in press). (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] 山本知仁, 藤井倫雅, 三宅美博: "手拍子を付加した場合の演奏者-聴取者間相互作用の解析"計測自動制御学会論文集. Vol.40,no.2. 207-209 (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] 武藤剛, 三宅美博: "歩行介助を目的とする人間-ロボット協調系における共創出過程の解析"計測自動制御学会論文集. 38-3. 316-323 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 高梨豪也, 三宅美博: "共創出型介助ロボット"Walk-Mate"の歩行障害への適用"計測自動制御学会論文集. 39-1. 74-81 (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] Muto, T., Miyake, Y.: "Analysis of the Coemergence Process on the Human-Human Cooperation"Proc.of 2002 IEEE Int.Workshop on Robot and Human Interactive Communication (ROMAN 2002). 65-70 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Muto, T., Miyake, Y.: "Analysis of Two kind of Control Dynamics on Cooperative Walk"Proc.of SICE Annual Conference 2002 (SICE 2002). 2080-2083 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Shimogama, M., Miyake, Y.: "A Machine embedded in Sensory-Motor Coupling of Human"Proc.of SICE Annual Conference 2002 (SICE 2002). 2084-2087 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 三宅美博: "共創システム"情報処理学会・知能と複雑系研究会資料. 130-8. 43-48 (2002)

    • Related Report
      2002 Annual Research Report

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

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