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Super-Skill Motion Control by Sense Feedback Using Multi-fingered Root Hand for Health-Support

Research Project

Project/Area Number 16360114
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionToyohashi University of Technology

Principal Investigator

TERASHIMA Kazuhiko  Toyohashi University of Technology, Faculty of Engineering, Professor, 工学部, 教授 (60159043)

Co-Investigator(Kenkyū-buntansha) YASUDA Yoshifumi  Toyohashi University of Technology, Faculty of Health-Sport Center, Professor, 体育保健センター, 教授 (70126952)
MIYAKE Tetsuno  Toyohashi University of Technology, Faculty of Engineering, Associate Professor, 工学部, 助教授 (60239366)
KITAGAWA Hideo  Gifu Technical College, Associate Professor, 助教授 (80224955)
HORIHATA Satoshi  Nihon University, Matsudo Dentist, Associate Professor, 松戸歯学部, 助教授 (20238801)
KAWAKAMI Keisuke  Nagoya Univ., Medical, Associate Professor, 工学部, 助教授 (60195047)
三好 孝典  豊橋技術科学大学, 工学部, 講師 (10345952)
Project Period (FY) 2004 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥15,000,000 (Direct Cost: ¥15,000,000)
Fiscal Year 2005: ¥4,700,000 (Direct Cost: ¥4,700,000)
Fiscal Year 2004: ¥10,300,000 (Direct Cost: ¥10,300,000)
KeywordsMulti-fingered hand / Massage robot / Hybrid control / Impedance control / Sense feedback / Macro-Micro control / Human muscle model / System identification / マッサージロボット / マクロ・マイクロ制御 / 皮膚筋肉モデル / ハイブリッド制御 / 擬人化ロボット / 健康支援ロボット
Research Abstract

This research considers super-skill massage motion control by multi-fingered robot hand using sense feedback. First, arm and hand robot system is built in this research. Modeling and identification method is presented for human skin model. Mass-Spring-Damper model is proposed, and parameters are identified by system identification method. Model validity is proved by comparison between experiments and simulations. Second, adaptive impedance control is proposed according to the impedance of human skin model Macro-Micro control is presented, where fine control is conducted by hand, and large force control is done by arm. Finally, sense feedback system by monitoring impedance and EMG signal isconstructed. Through these research, basic knowledge of establishing intelligent massage control systems in future has been obtained.

Report

(3 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • Research Products

    (27 results)

All 2006 2005 2004

All Journal Article (25 results) Book (2 results)

  • [Journal Article] 生活支援に向けた理学療法学と工学との連携・制御・ロボット技術を一つの軸として-2005

    • Author(s)
      寺嶋一彦
    • Journal Title

      理学療法学 32巻,4号

      Pages: 237-240

    • NAID

      110004015900

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Modeling of Humans Skin Muscle and Massage Control by Using Multi-fingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, et al.
    • Journal Title

      Proceedings of IMCCAS Mexico, May

      Pages: 495-500

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Regrasping Control by Multi-fingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, Juan Urbano, Takanori Miyoshi, Kagetoshi Ito, Takashi Imamura, Hideo Kitagawa
    • Journal Title

      Proceedings of IMCCAS Mexico, May

      Pages: 193-198

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Annual Research Report 2005 Final Research Report Summary
  • [Journal Article] Model and Impedance Control of Human Skin Muscle by Using Multi-fingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, Taku Kondo, Panya Minyong, Takanori Miyoshi, Hideo Kitagawa
    • Journal Title

      Proceedings of Gerontechnology May, Nagoya

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Annual Research Report 2005 Final Research Report Summary
  • [Journal Article] Sense Feedback Control of Human Muscle by Multi-fingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, Taku Kondo, Panya Minyong, Takanori Miyoshi, Hideo Kitagawa
    • Journal Title

      Proceedings of 16th IFAC World Congress Prag

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Annual Research Report 2005 Final Research Report Summary
  • [Journal Article] Massage Control to Adapt Human Skin Muscle Condition by Using Multifingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, Taku Kondo, Panya Minyong, Takanori Miyoshi
    • Journal Title

      Proceedings of the Second International Conference on Informatics Control, Automation and Robotics (ICINCO 2005) Sept, Barcerona

      Pages: 407-411

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Modeling and Parameter Estimation of Human Skin Muscle by Using Multifingered Robot Hand2005

    • Author(s)
      K.Terashima, T.Miyoshi, T.Kondo
    • Journal Title

      Proc. of the Third Intelligent Human Sensing (IHSS 2005), The 21 COE Program "Intelligent Human Sensing March, Toyohashi

      Pages: 181-185

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Model and Impedance Control of Human Skin Muscle by Using Multi-fingered Robot Hand,2005

    • Author(s)
      Kazuhiko Terashima, Taku Kondo, Panya Minyong, Takanori Miyoshi, Hideo Kitagawa
    • Journal Title

      Gerontechnology 2005, Nagoya Congress Center PS6a-2

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Modeling of Human Skin Muscle and Massage Control by Using Multi-fingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, Taku Kondo, Panya Minyong, Takanori Miyoshi, Hideo Kitagawa, Juan Urbano
    • Journal Title

      IMCCAS 2005, Cancun, Mexico

      Pages: 495-305

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Regrasping Control by Multi-fingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, Juan Urbano, Takanori Miyoshi, Kagetoshi Ito, Takashi Imamura, Hideo Kitagawa
    • Journal Title

      IMCCAS 2005, Cancun, Mexico

      Pages: 495-198

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Sense Feedback Control of Human Muscle by Multi-fingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, Taku Kondo, Panya Minyong, Takanori Miyoshi, Hideo Kitagawa
    • Journal Title

      16th IFAC World Congress (pdf)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Massage Control to Adapt Human Skin Muscle Condition by Using Multifingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, Taku Kondo, Panya Minyong, Takanori Miyoshi
    • Journal Title

      Proceeding of the Second International Conference on Informatics Control, Automation and Robotics (ICINCO 2005)

      Pages: 407-410

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Modeling and Parameter Estimation of Human Skin Muscle by Using Multi fingered Robot Hand2005

    • Author(s)
      K.Terashima, T.Miyoshi, T.Kondo
    • Journal Title

      Proc.of the Third Intelligent Human Sensing (IHSS 2005), The 21 COE Program "Intelligent Human Sensing, Toyohashi

      Pages: 181-185

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 生活支援に向けた理学療法学と工学との連携・制御・ロボット技術を一つの軸として-,2005

    • Author(s)
      寺嶋一彦
    • Journal Title

      理学療法学 32巻,4号

      Pages: 237-240

    • NAID

      110004015900

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Modeling of Human Skin Muscle and Massage Control by Using Multi-fingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, et al.
    • Journal Title

      Proceedings of IMCCAS Mexico, May

      Pages: 495-500

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Massage Control to Adapt Human Skin Muscle Condition by Using Multifingered Robot Hand2005

    • Author(s)
      Kazuhiko Terashima, Taku Kondo, Panya Minyong, Takanori Miyoshi
    • Journal Title

      Proceeding of the Second International Conference on Informatics Control, Automation and Robotics(ICINCO 2005) Sept, Barcerona

      Pages: 407-411

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Modeling and Parameter Estimation of Human Skin Muscle by Using Multi fingered Robot Hand2005

    • Author(s)
      K.Terashima, T.Miyoshi, T.Kondo
    • Journal Title

      Proc.of the Third Intelligent Human Sensing (IHSS 2005), The 21 COE Program "Intelligent Human Sensing March. Toyohashi

      Pages: 181-185

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 生活支援に向けた理学療法学と工学との連携-制御・ロボット技術を一つの軸として-2005

    • Author(s)
      寺嶋一彦
    • Journal Title

      理学療法学会誌 3月号

    • NAID

      110004015900

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Sense feedback control of human muscle by multi-fingered robot hand2005

    • Author(s)
      K.Terashima, et al.
    • Journal Title

      IFAC world congress

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 「研究成果報告書概要(和文)」より2004

    • Author(s)
      寺嶋一彦
    • Journal Title

      優しさを表現する手のロボット,ひだの散歩道 (飛騨・世界生活文化センター) 7号

      Pages: 8-9

    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 多指ハンドの操り制御2004

    • Author(s)
      寺嶋一彦, 三好孝典, 三宅哲夫
    • Journal Title

      21世紀COEプログラム第2回シンポジウム 2月、豊橋

      Pages: 88-91

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 人間型多指関節ロボットハンドによるマッサージモーションにおける皮膚筋肉モデルの構築2004

    • Author(s)
      近藤拓, 寺嶋一彦, 他
    • Journal Title

      第22回日本ロボット学会学術講演会 岐阜

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 生活支援に向けた理学療法学と工学との連携2004

    • Author(s)
      寺嶋一彦
    • Journal Title

      理学療法学-第39回日本理学療法学協会全国研修会- 31巻・3号

      Pages: 59-59

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 優しさを表現する手のロボット2004

    • Author(s)
      寺嶋一彦
    • Journal Title

      ひだの散歩道(飛騨・世界生活文化センター) 第7号

      Pages: 8-9

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 指先拘束を用いた多指多関節アーム・ハンドロボットのマクロ・マイクロインピーダンス制御2004

    • Author(s)
      山田春樹, 寺嶋一彦他
    • Journal Title

      計測自動制御学会システムインテグレーション部門SI2004講演会 筑波

    • Related Report
      2004 Annual Research Report
  • [Book] 理学療法と工学との接点-理学療法とシステム工学との接点の部分を担当2006

    • Author(s)
      寺嶋 一彦, 多10名
    • Total Pages
      80
    • Publisher
      メディカルエキスプレス
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Book] 理学療法と工学との接点 -理学療法とシステム工学との接点の部分を担当2006

    • Author(s)
      寺嶋 一彦, 他10名
    • Total Pages
      80
    • Publisher
      メディカルエキスプレス
    • Related Report
      2005 Annual Research Report

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Published: 2004-04-01   Modified: 2016-04-21  

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