| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2016: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2015: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Outline of Final Research Achievements |
This study considers synthesis procedures of energy-efficient power assisting systems for almost-periodic motions. Previously, we showed energy-efficient improves by flattening the total value of a human torque and an assessing torque. To realize this situation, we proposed following three methods (1) assisting method using an adaptive filter (2) assisting method based on motion prediction (3) assisting method with periodic disturbance observer. The proposed methods were demonstrated through experiments with an actual bicycle.
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