| Project/Area Number |
15K12606
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Rehabilitation science/Welfare engineering
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| Research Institution | Waseda University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
小林 洋 早稲田大学, 理工学術院総合研究所(理工学研究所), 主任研究員(研究院准教授) (50424817)
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | 福祉ロボット / 装着型ロボット / フレキシブルロボット |
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| Outline of Final Research Achievements |
The aim of this study was to establish a methodology for developing robots with high affinity with humans using flexible actuators mimicked human musculoskeletal system. We carried out the analysis of the musculoskeletal network structure and the development of actuators imitating it, and the optimization of the robot structure. With regard to the microstructure, we proposed a method of quantifying the muscle activity and its material change at muscle contraction / relaxation using a wearing type EMG sensor or a muscle hardness meter. Regarding the macroscopic structure, we developed a prototype of a robotic suit using flexible material for the purpose of supporting motion of the elbow joint and knee joint, and verified the actuator arrangement and control method capable of improving the body motion without hindering the active action of humans.
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