最低センサー数を用いた人間の動さ計測と認識とその応用
| Project/Area Number |
14F04768
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| Research Category |
Grant-in-Aid for JSPS Fellows
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| Allocation Type | Single-year Grants |
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| Section | 外国 |
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| Research Field |
Intelligent informatics
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| Research Institution | Tokyo University of Agriculture and Technology |
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Principal Investigator |
Venture Gentiane (VENTURE Gentiane) 東京農工大学, 工学(系)研究科(研究院), 准教授 (30538278)
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| Co-Investigator(Kenkyū-buntansha) |
BONNET VINCENT 東京農工大学, 工学(系)研究科(研究院), 外国人特別研究員
BONNET Vincent 東京農工大学, 工学(系)研究科(研究院), 外国人特別研究員
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| Project Period (FY) |
2014-04-25 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 2016: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2015: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 2014: ¥400,000 (Direct Cost: ¥400,000)
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| Keywords | Robotics / inverse kinematics / inverse dynamics / Extended Kalman filter / motion analysis / 人間力学 |
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| Outline of Annual Research Achievements |
Dr. Vincent Bonnet has succeeded in fulfilling his research plan and providing even more results than expected. He has implemented successfully our identification procedure usually used for robots and high precision sensors, on the human with low cost equipment. He has also successfully implemented the quadratic optimization to estimate not only the subset of dynamics parameters but the entire set of dynamic parameters. The parameters are identified with relative low error and the method has been validated with a robot arm (for measurement accuracy validation) and with several human subjects (for methodology validation).
Dynamic parameters of the human body can be obtained in less than 60s, with a simple task, that can be adjusted with the level of motion ability of the subject. The motion can be adapted in term of range, velocity, acceleration from healthy athletes to elderly with pathologies. The system and the theory can thus be used in the clinical field for broader applications. He conducted experiments in collaboration with Dr. Noritaka Kawashima at the National Rehabilitation Center for People with Disabilities to validate the clinical application. His research results lead to new break-through in the use of subject-specific models in the clinical and rehabilitation fields, in new diagnosis and quantification procedures.
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| Research Progress Status |
28年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
28年度が最終年度であるため、記入しない。
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Report
(3 results)
Research Products
(23 results)
