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Motion Control for Safe and Low-Power Consumption Assistive Systems (Fostering Joint International Research)

Research Project

Project/Area Number 15KK0194
Research Category

Fund for the Promotion of Joint International Research (Fostering Joint International Research)

Allocation TypeMulti-year Fund
Research Field Rehabilitation science/Welfare engineering
Research InstitutionTohoku University

Principal Investigator

Hirata Yasuhisa  東北大学, 工学研究科, 教授 (20323040)

Project Period (FY) 2016 – 2019
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥14,560,000 (Direct Cost: ¥11,200,000、Indirect Cost: ¥3,360,000)
Keywords高齢者・障がい者支援 / 歩行支援 / 移動支援 / スポーツ支援 / 知能機械 / リハビリテーション
Outline of Final Research Achievements

In this project, we investigated the functions necessary for more effective integration of assistive systems such as wheelchairs and walkers into society in international joint research between Japan and France and conducted research and development of a system that encourages the active participation of the elderly and disabled. In addition, we have developed a system that supports not only walking but also arts and sports, such as supporting dancers with disabilities and supporting golfers with disabilities.

Academic Significance and Societal Importance of the Research Achievements

福祉・介護システムの研究開発では,先進技術単体の研究だけではなく,それらを社会へ統合することを前提として研究開発を行うべきである.本共同研究では特に日本とフランスで研究開発された技術やシステムを適切に統合することでより高機能なシステムを開発することができるが,それらをお互いの福祉・介護施設などで検証実験を行うことで,より実用的な観点からのシステム構築につながった.また,日仏での研究開発の成果は,全世界の国々で利用できるシステム構築の足掛かりとなると信じる.

Report

(5 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Research-status Report
  • 2017 Research-status Report
  • 2016 Research-status Report
  • Research Products

    (17 results)

All 2020 2019 2018 2017

All Int'l Joint Research (1 results) Journal Article (4 results) (of which Peer Reviewed: 4 results,  Open Access: 1 results) Presentation (12 results) (of which Int'l Joint Research: 4 results)

  • [Int'l Joint Research] The Universite Paris-Saclay(フランス)2017

    • Related Report
      2019 Annual Research Report
  • [Journal Article] Verbal guidance for sit-to-stand support system2020

    • Author(s)
      Mizuki Takeda , Yasuhisa Hirata, Yueh-Hsuan Weng, Takahiro Katayama, Yasuhide Mizuta & Atsushi Koujina
    • Journal Title

      ROBOMECH Journal

      Volume: 7 Issue: 1 Pages: 1-10

    • DOI

      10.1186/s40648-020-00156-3

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Accountable system design architecture for embodied AI: a focus on physical human support robots2019

    • Author(s)
      Mizuki Takeda, Yasuhisa Hirata, Yueh-Hsuan Weng, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina
    • Journal Title

      Advanced Robotics

      Volume: 33 Issue: 23 Pages: 1248-1263

    • DOI

      10.1080/01691864.2019.1689168

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] State Estimation Using the CoG Candidates for Sit-to-Stand Support System User2018

    • Author(s)
      Mizuki Takeda, Yasuhisa Hirata, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 3 Issue: 4 Pages: 3011-3018

    • DOI

      10.1109/lra.2018.2849551

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Journal Article] Motion Control of Cycling Wheelchair With Continuously Variable Transmission and Clutch2018

    • Author(s)
      Yasuhisa Hirata, Yuto Tanaka
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 3 Issue: 1 Pages: 148-154

    • DOI

      10.1109/lra.2017.2735489

    • Related Report
      2017 Research-status Report
    • Peer Reviewed
  • [Presentation] Indoor Wayfinding for an Electric Wheelchair Based on Wi-Fi Fingerprinting Localization2020

    • Author(s)
      Jose Victorio Salazar Luces, Kengkij Promsutipong, Yasuhisa Hirata
    • Organizer
      2020 IEEE/SICE International Symposium on System Integration (SII)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Lumbar Assistive Orthosis with Torsion Spring-based Joint for Lumbar Degenerative Kyphosis Patient2018

    • Author(s)
      Songyot Piriyakulkit, Yasuhisa Hirata, Hiroshi Ozawa
    • Organizer
      2018 IEEE International Conference on Cyborg and Bionic Systems
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Ethically Aligned Design for Assistive Robotics2018

    • Author(s)
      Yueh-Hsuan Weng, Yasuhisa Hirata
    • Organizer
      IEEE International Conference on Intelligence and Safety for Robotics
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] スウィング機構を有する三輪自転車の姿勢制御2018

    • Author(s)
      佐藤陸人,平田泰久
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] 起立支援システム使用者のための重心候補を用いた状態推定2018

    • Author(s)
      武田洸晶,平田泰久,片山貴寛,水田康秀,神品淳
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] SVMを用いた体重免荷歩行器使用者の状態推定2018

    • Author(s)
      大崎謙悟,平田泰久
    • Organizer
      日本ロボット学会学術講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] Human CoG estimation for assistive robots using a small number of sensors2017

    • Author(s)
      Mizuki Takeda
    • Organizer
      2017 IEEE International Conference on Robotics and Automation
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Real-time gait event recognition for wearable assistive device using an IMU on thigh2017

    • Author(s)
      Songyot Piriyakulkit
    • Organizer
      2017 IEEE International Conference on Cyborg and Bionic Systems
    • Related Report
      2017 Research-status Report
  • [Presentation] 起立・着座支援システム使用者の重心候補推定2017

    • Author(s)
      武田洸晶
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] 無段変速機とクラッチを用いた足こぎ車いすの走行制御2017

    • Author(s)
      田中優斗
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] 操舵制御が可能なキャスタを用いた歩行支援システムの開発2017

    • Author(s)
      高橋康文
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] 無段変速機とクラッチを用いた足こぎ車いすの踏力評価2017

    • Author(s)
      田中優斗
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Related Report
      2017 Research-status Report

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Published: 2016-10-04   Modified: 2021-02-19  

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