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Wearable Upper limb motion assist device based on compliant parallel mechanism

Research Project

Project/Area Number 15H03054
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Rehabilitation science/Welfare engineering
Research InstitutionKyushu University

Principal Investigator

ARATA Jumpei  九州大学, 工学研究院, 准教授 (40377586)

Co-Investigator(Kenkyū-buntansha) 橋爪 誠  九州大学, 医学研究院, 教授 (90198664)
木口 量夫  九州大学, 工学研究院, 教授 (90269548)
Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥17,030,000 (Direct Cost: ¥13,100,000、Indirect Cost: ¥3,930,000)
Fiscal Year 2017: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2016: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2015: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
Keywordsエグゾスケルトン / 機構 / 日常生活動作 / リハビリテーション / 運動支援ロボット / 知能機械 / 知能ロボティックス / 医療・福祉 / 医療・福祉ロボット / 知能ロボティクス / 機構学 / リハビリテーションロボット / 日常生活支援 / 柔軟メカニズム
Outline of Final Research Achievements

In this research, we have successfully developed a new compliant-parallel mechanism that has a two springs parallelly located and showed its feasibility. The advantages of presented system are: 1. The proposed mechanism deforms according to the wearer’s motion along with the body surface thus not prohibit the user’s motion. 2. The intrinsic spring flexibility avoids the excess load to the wearer’s limb. 3. The spring flexibility also plays a key role to avoid the excess force even the joint center is moving -which is often a major issue for a rigid mechanism.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Annual Research Report
  • 2015 Annual Research Report
  • Research Products

    (6 results)

All 2018 2017 2016

All Journal Article (1 results) (of which Peer Reviewed: 1 results) Presentation (4 results) (of which Int'l Joint Research: 2 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Low-profile Two-degree-of-freedom Wrist Exoskeleton Device using Multiple Spring Blades2018

    • Author(s)
      Tomohito Higuma、Kazuo Kiguchi、Jumpei Arata
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 3(1) Issue: 1 Pages: 305-311

    • DOI

      10.1109/lra.2017.2739802

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Presentation] Low-profile Two-degree-of-freedom Wrist Exoskeleton Device using Multiple Spring Blades2018

    • Author(s)
      Tomohito Higuma、Kazuo Kiguchi、Jumpei Arata
    • Organizer
      Conference on Intelligent Robots And Systems (IROS)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] SMOVE: Hand exoskeleton device for rehabilitation -Overview and its mechanical design-2018

    • Author(s)
      Tomohito Higuma、Taiki Yuasa、Jumpei Arata
    • Organizer
      International Functional Reconstruction of the Hand (IFRH)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 遠隔に動力配置するリハビリ用ハンドエグゾスケルトン装置に関する研究2017

    • Author(s)
      日隈友仁、湯淺太煕、金澤昌範、迎伸孝、橋爪誠、木口量夫、荒田純平
    • Organizer
      日本機械学会ロボティクスメカトロニクス講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] ばね要素を複合的に用いた柔軟な手首機構を有する前腕部運動支援装置の開発ー柔軟要素による動作支援機構開発に関する報告ー2016

    • Author(s)
      日隈友仁,金澤昌範,木口量夫,荒田純平
    • Organizer
      日本機械学会ロボティクスメカトロニクス講演会
    • Place of Presentation
      横浜
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Patent(Industrial Property Rights)] 並列ばねによる2自由度回転機構2016

    • Inventor(s)
      荒田純平, 橋爪誠
    • Industrial Property Rights Holder
      荒田純平, 橋爪誠
    • Industrial Property Rights Type
      特許
    • Filing Date
      2016-06-07
    • Related Report
      2016 Annual Research Report

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Published: 2015-04-16   Modified: 2019-03-29  

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