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Flexible Force Control System for High-functioning CPM Devices based on the Biomechanics

Research Project

Project/Area Number 16360213
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionKumamoto University

Principal Investigator

KAWAJI Shigeyasu  Kumamoto University, Graduate School of Science and Technology, Professor, 大学院自然科学研究科, 教授 (30040421)

Co-Investigator(Kenkyū-buntansha) MATSUNAGA Nobutomo  Kumamoto University, Graduate School of Science and Technology, Associate Professor, 大学院自然科学研究科, 助教授 (10363508)
Project Period (FY) 2004 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥15,000,000 (Direct Cost: ¥15,000,000)
Fiscal Year 2006: ¥3,100,000 (Direct Cost: ¥3,100,000)
Fiscal Year 2005: ¥5,200,000 (Direct Cost: ¥5,200,000)
Fiscal Year 2004: ¥6,700,000 (Direct Cost: ¥6,700,000)
KeywordsContinuous passive motion / Rehabilitation / Biomechanics / Pain morel / Pro- / supination / Flex- / extension / Impedance control / 外乱オブザーバー
Research Abstract

Recently, as the population is aging and birthrate declining extremely and rapidly, new developments or technologies for supporting the human life will be an urgent issue. As the interaction between robots and humans can not be avoided in daily living, robot technology considering the interaction actively will be a new realm of robot technologies. In this tendency, continuous passive motion (CPM) is an orthopedic treatment or physiotherapy method that aids impaired joint recovery by the external continuous force, and its effectiveness is confirmed from the points of regeneration of joint and periarticular tissues is comparison with stooky. There have been few research about CPM devices for the elbow joint because of the musculoskeletal complexity of the forearm. Also, conventional CPM devices with simple mechanism have been tested in clinical uses, i.e., the CPM has only one degree of freedom with fixed pro-/supination to avoid the complex setting of the device.
In this research, we inv … More estigated about the flexible force control for high-functioning CPM devices based on the biomechanics of forearm as follows.
1. Development of new high-functioning CPM device
We developed a new CPM device with two degree of freedom, i.e. pro-/supination and flex-/extension. And, experimental results for the subject with fixation device have been shown and the effectiveness of the proposed scheme was evaluated.
2. Clarification of mechanism of forearm
The skeletal model with the closed-loop mechanism is proposed for human forearm. And a novel inverse kinematics using the wrist directional vector was solved. The effectiveness of the inverse kinematics was evaluated by the simulation.
3. Pain modeling and design of flexible force control
Artificial superficial pain model caused by impact was proposed. This model consists of mechanical pain model, skin model and gate control by artificial neural networks. And, a novel impedance control scheme for the CPM device was proposed which can control the pro-/supination angles to the reference of the normal subject.
4. Summarizing of studies
The results of this study are summarized in the report of grant-in-aid for scientific research. Less

Report

(4 results)
  • 2006 Annual Research Report   Final Research Report Summary
  • 2005 Annual Research Report
  • 2004 Annual Research Report
  • Research Products

    (77 results)

All 2007 2006 2005 2004 2000 Other

All Journal Article (77 results)

  • [Journal Article] Inverse Kinematics Analysis of Forearm in CPM Based on Biomechanics2007

    • Author(s)
      K.NOJIRI
    • Journal Title

      IEEE International Conference on Mechatronics (ICM2007) TuM1-C-3

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Impedance Control of CPM Device with Flex-/Extension and Pro-/Supination of Upper Limbs2007

    • Author(s)
      N.MATSUNAGA
    • Journal Title

      2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (to be published)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上肢用CPM装置の前腕動作に基づく制御2007

    • Author(s)
      宮口尚太
    • Journal Title

      第25回熊本県産学官技術講演会講演論文集

      Pages: 170-171

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上肢用2自由度CPM装置のインピーダンス制御2007

    • Author(s)
      宮口尚太
    • Journal Title

      ロボティクス・メカトロニクス講演会'07講演論文集 1A1-J02

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Inverse Kinematics Analysis of Forearm in CPM Based on Biomechanics2007

    • Author(s)
      Kousei NOJIRI
    • Journal Title

      Proc. of IEEE International Conference on Mechatronics (ICM2007) TuMl-C-3

      Pages: 1-6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Impedance Control of 2DOF CPM Device for Upper Limbs2007

    • Author(s)
      Shota MIYAGUCHI
    • Journal Title

      Proc of the 2007 JSME Conference on Robotic and Mechatronics 1 A1-J02

      Pages: 1-6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Inverse Dynamics Analysis of Forearm in CPM2006

    • Author(s)
      Kosei Nojiri
    • Journal Title

      Proc. of SICE-ICASE International Joint Conference 2006

      Pages: 2336-2339

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上腕の表面痛の特性に基づく痛みモデルの構築2006

    • Author(s)
      赤山聖子
    • Journal Title

      第20回熊本県産学官技術講演会講演論文集

      Pages: 51-52

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 表面痛のモデリングとロボット制御への応用2006

    • Author(s)
      松永信智
    • Journal Title

      第11回 ロボティクスシンポジア,佐賀

      Pages: 198-203

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] CPMにおける前腕の逆動力学解析2006

    • Author(s)
      野尻紘聖
    • Journal Title

      ロボティクス・メカトロニクス講演会'06講演論文集,東京 1A1-A27

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上肢における表面痛特性の実験的解析とモデリング2006

    • Author(s)
      赤山聖子
    • Journal Title

      ロボティクス・メカトロニクス講演会'06講演論文集,東京 2P2-B31

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上肢の屈曲情報と手先反力を用いたCPM装置の軌道生成2006

    • Author(s)
      宮口尚太
    • Journal Title

      ロボティクス・メカトロニクス講演会'06講演論文集,東京 1A1-A29

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 前腕の骨格モデルに基づく上肢CPMの動作分析2006

    • Author(s)
      野尻絋聖
    • Journal Title

      福祉工学シンポジウム2006講演論文集

      Pages: 265-266

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 肢骨格モデルを用いたCPMの運動力学特性の分析2006

    • Author(s)
      野尻 紘聖
    • Journal Title

      2006年度機械学会年次大会講演論文集,Vo1.5,熊本

      Pages: 145-146

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 伸展・屈曲及び回内・回外運動可能な上肢用CPM装置のインピーダンス制御2006

    • Author(s)
      宮口尚太
    • Journal Title

      第21回 生体・生理工学シンポジウム (BPES2006)

      Pages: 45-48

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上肢骨格における回内・回外運動の逆運動学解析2006

    • Author(s)
      福田智史
    • Journal Title

      第25回計測自動制御学会九州支部学術講演会

      Pages: 167-170

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 回内・回外を考慮した上肢用CPM装置におけるインピーダンス制御2006

    • Author(s)
      宮口尚太
    • Journal Title

      第25回計測自動制御学会九州支部学術講演会

      Pages: 211-214

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 押圧力による皮膚変形と痛みの実験的解析2006

    • Author(s)
      赤山聖子
    • Journal Title

      第25回計測自動制御学会九州支部学術講演会

      Pages: 147-150

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上肢用CPM装置における回内・回外動作のインピーダンス制御2006

    • Author(s)
      松永信智
    • Journal Title

      第7回 SICE システムインテグレーション部門(SI部門)講演会、札幌

      Pages: 1114-1115

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Inverse Dynamics Analysis of Forearm in CPM2006

    • Author(s)
      Kousei NOJIRI
    • Journal Title

      Proc. of SICE-ICASE International Joint Conference

      Pages: 2336-2339

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Inverse Dynamics Analysis of Forearm in CPM2006

    • Author(s)
      Kousei NOJIRI
    • Journal Title

      Proc of the 2006JSME Conference on Robotic and Mechatronics 1A1-A27

      Pages: 1-6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Experimental Analysis and Modeling of Superficial Pain on Upper Limb2006

    • Author(s)
      Seiko AKAYAMA
    • Journal Title

      Proc of the 2006 JSME Conference on Robotic and Mechatronics 2P2-B31

      Pages: 1-6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Trajectory Generation of CPM Device based on Reaction Force and Upper Limb Motion2006

    • Author(s)
      Shota MIYAGUCHI
    • Journal Title

      Proc of the 2006 JSME Conference on Robotic and Mechatronics 1 A1-A29

      Pages: 1-6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Motion Analysis of CPM for Upper Limbs based on Skelton Model of the Forearm2006

    • Author(s)
      Kousei NOJIRI
    • Journal Title

      Proc. of Symposium of Welfare Engineering 2006

      Pages: 265-266

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Analysis of Movement Mechanics Characteristic during CPM using Skelton Model of Upper Limb2006

    • Author(s)
      Kousei NOJIRI
    • Journal Title

      Proc. of JSME Annual Conference 2006 Vol.5

      Pages: 145-146

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Impedance Control of CPM Device with Flex-/Extension and Pro-/Supination for Upper Limbs2006

    • Author(s)
      Shota MIYAGUCHI
    • Journal Title

      Proc. of 21th Symposium on Biological and Physiological Engineering

      Pages: 4548-4548

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Analysis on Pronation and Supination Movementof Upper Limbs using Inverse Kinematics2006

    • Author(s)
      Tomofumi FUKUDA
    • Journal Title

      Proc. of 25th SICE Kyushu Branch Annual conference

      Pages: 167-170

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Impedance Control of CPM Device Considering Pronosupination for Upper Limbs2006

    • Author(s)
      Shota MIYAGUCHI
    • Journal Title

      Proc. of 25th SICE Kyushu Branch Annual conference

      Pages: 211-214

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Experimental Analysis of Skin Deformation and Pain by Suppress Strength2006

    • Author(s)
      Seiko AKAYAMA
    • Journal Title

      Proc. of 25th SICE Kyushu Branch Annual conference

      Pages: 147-150

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Impedance Control of Prosupination in Continuous Passive Motion2006

    • Author(s)
      Nobutomo MATSUNAGA
    • Journal Title

      Proc. of 6th SICE System Integration Division Annual Conference

      Pages: 1114-1115

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上肢の屈曲情報と手先反力を用いたCPM装置の軌道生成2006

    • Author(s)
      宮口尚太, 野尻絋聖, 松永信智, 川路茂保
    • Journal Title

      ロボティクス・メカトロニクス講演会'06講演論文集,東京

    • Related Report
      2006 Annual Research Report
  • [Journal Article] CPMにおける前腕の逆動力学解析2006

    • Author(s)
      野尻 絋聖, 松永 信智, 川路 茂保
    • Journal Title

      ロボティクス・メカトロニクス講演会'06講演論文集,東京

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Inverse Dynamics Analysis of Forearm in CPM2006

    • Author(s)
      Kosei Nojiri, Nobutomo Matsunaga, Shigeyasu Kawaji
    • Journal Title

      Proc.of SICE-ICASE International Joint Conference 2006

      Pages: 2336-2339

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 伸展・屈曲及び回内・回外運動可能な上肢用CPM装置のインピーデンス制御2006

    • Author(s)
      宮口尚太, 野尻絋聖, 松永信智, 川路茂保
    • Journal Title

      第21回 生体・生理工学シンポジウム (BPES2006)

      Pages: 45-48

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 上肢用CPM装置における回内・回外動作のインピーダンス制御2006

    • Author(s)
      松永信智, 宮口尚太, 野尻絋聖, 川路茂保
    • Journal Title

      第7回 SICEシステムインテグレーション部門(SI部門)講演会、札幌

      Pages: 1114-1115

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 上肢骨格における回内・回外運動の逆運動学解析2006

    • Author(s)
      福田智史, 野尻絋聖, 松永信智, 川路茂保, 山川昇
    • Journal Title

      第25回計測自動制御学会九州支部学術講演会

      Pages: 167-170

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 上肢用CPM装置の前腕動作に基づく制御2006

    • Author(s)
      宮口尚太, 野尻絋聖, 松永信智, 川路茂保
    • Journal Title

      第21回熊本県産学官技術講演会公演論文集

      Pages: 170-171

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Superficial Pain Model using ANN and its application to Robot Control2005

    • Author(s)
      Nobutomo MATSUNAGA
    • Journal Title

      Proc. of IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2005), Monterey

      Pages: 664-669

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] A New Approach to Safe Control System using Somatic Pain Characteristics2005

    • Author(s)
      N.MATSUNAGA
    • Journal Title

      The 2005 International Symposium on Advanced Engineering, Busan

      Pages: 258-263

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上肢用CPM装置の開発2005

    • Author(s)
      野尻紘聖
    • Journal Title

      第19回熊本県産学官技術講演会講演論文集

      Pages: 98-99

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] ユーザフレンドリな上肢用CPM装置の開発2005

    • Author(s)
      福田智史
    • Journal Title

      ロボティクス・メカトロニクス講演会'05講演論文集 1P2-N-115

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] ニューラルネットワークによる表面痛のモデリング2005

    • Author(s)
      松永信智
    • Journal Title

      ロボティクス・メカトロニクス講演会'05講演論文集 1A1-N-110

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上肢用CPM装置における回内・回外動作の分析2005

    • Author(s)
      福田智史
    • Journal Title

      第24回計測自動制御学会九州支部学術講演会

      Pages: 29-30

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 上腕における表面痛のモデリング2005

    • Author(s)
      赤山聖子
    • Journal Title

      第24回計測自動制御学会九州支部学術講演会,福岡

      Pages: 51-52

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 表面痛モデルを用いたロボットの回避運動2005

    • Author(s)
      松永信智
    • Journal Title

      第6回 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、熊本

      Pages: 875-876

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 痛みフィードバックを用いた上肢用CPM装置の開発2005

    • Author(s)
      野尻紘聖
    • Journal Title

      第6回計測自動制御学会(SICE)システムインテグレーション部門講演会 1E3-3

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] A New Approach to Safe Control System using Somatic Pain Characteristics2005

    • Author(s)
      Nobutomo MATSUNAGA
    • Journal Title

      Proc. of the 2005 International Symposium on Advanced Engineering, Busan

      Pages: 258-263

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of CPM Device2005

    • Author(s)
      Kousei NOJIRI
    • Journal Title

      Proc. of 19th Kumamoto San-Gaku-Kan Annual Technical Conference

      Pages: 29-99

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of User Friendly Continuous Passive Motion Device for Upper Limb2005

    • Author(s)
      Tomofumi FUKUDA
    • Journal Title

      Proc of the 2005 JSME Conference on Robotic and Mechatronics 1P2-N-115

      Pages: 1-6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Superficial Pain Model using Artificial Neural Network2005

    • Author(s)
      Nobutomo MATSUNAGA
    • Journal Title

      Proc of the 2005 JSME Conference on Robotic and Mechatronics 1A1-N-110

      Pages: 1-6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Analysis of Pronation and Supination Movement on CPM Device for Upper Limb2005

    • Author(s)
      Tomofumi FUKUDA
    • Journal Title

      Proc. of 24th SICE Kyushu Branch Annual conference

      Pages: 29-30

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Modeling of Artificial Surficial Pain on Upper Limb2005

    • Author(s)
      Seiko AKAYAMA
    • Journal Title

      Proc. of 24th SICE Kyushu Branch Annual conference

      Pages: 51-52

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Avoidance Motion of Robot using Artificial Surficial Pain Model2005

    • Author(s)
      Nobutomo MATSUNAGA
    • Journal Title

      Proc. of 6th SICE System Integration Division Annual Conference

      Pages: 875-876

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Development of Continuous Passive Motion Device for Upper Limbs using Pain Feedback2005

    • Author(s)
      Kousei NOJIRI
    • Journal Title

      Proc. of 6th SICE System Integration Division Annual Conference

      Pages: 171-172

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Pain Model based on the Characteristics of Surficial Pain2005

    • Author(s)
      Seiko AKAYAMA
    • Journal Title

      Proc. of 20th Kumamoto San-Gaku-Kan Annual Technical Conference

      Pages: 124-125

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Modeling of Artificial Superficial Pain and Its Application to Avoidance Model of Robot2005

    • Author(s)
      Nobutomo MATSUNAGA
    • Journal Title

      Proc. of 11th Robotics Symposia

      Pages: 198-203

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Control of CPM Device based on Forearm Movement2005

    • Author(s)
      Shota MIYAGUCHI
    • Journal Title

      Proc. of 21th Kumamoto San-Gaku-Kan Annual Technical Conference

      Pages: 170-171

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Motion Analysis of Human Lifting Works with Heavy Objects2005

    • Author(s)
      N.Matsunaga, S.Kawaji
    • Journal Title

      Journal of Robotics and Mechatronics Vol.17, No.6

      Pages: 628-635

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Modelling of Superficial Pain using ANNs2005

    • Author(s)
      N.Matsunaga, A.Kuroki, S.Kawaji
    • Journal Title

      International Conference on Control, Automation and Systems(ICCAS2005)

      Pages: 1293-1298

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Superficial Pain Model using ANN and its application to Robot Control2005

    • Author(s)
      N.Matsunaga, S.Kawaji, A.Kuroki
    • Journal Title

      IEEE International Conference on Advanced Intelligent Mechatronics(AIM 2005)

      Pages: 664-669

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 痛みフィードバックを用いた上肢用CPM装置の開発2005

    • Author(s)
      野尻絋聖, 松永信智, 川路茂保
    • Journal Title

      第5回SICEシステムインテグレーション部門(SI部門)

      Pages: 1239-1240

    • Related Report
      2005 Annual Research Report
  • [Journal Article] ユーザフレンドリな上肢用CPM装置の開発2005

    • Author(s)
      福田智史, 野尻絋聖, 松永信智, 川路茂保, 山川昇
    • Journal Title

      ロボティクス・メカトロニクス講演会'05講演論文集

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      2005 Annual Research Report
  • [Journal Article] 上肢用CPM装置における回内・回外運動の分析2005

    • Author(s)
      福田智史, 野尻絋聖, 松永信智, 川路茂保, 山川昇
    • Journal Title

      第24回計測自動制御学会九州支部学術講演会

      Pages: 29-30

    • Related Report
      2005 Annual Research Report
  • [Journal Article] ニューラルネットによる表面痛のモデリング2005

    • Author(s)
      松永信智, 川路茂保, 黒木麻予
    • Journal Title

      ロボティクス・メカトロニクス講演会'05講演論文集,神戸

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 上腕における表面痛のモデリング2005

    • Author(s)
      赤山聖子, 松永信智, 川路茂保
    • Journal Title

      第24回計測自動制御学会九州支部学術講演会,福岡

      Pages: 51-52

    • Related Report
      2005 Annual Research Report
  • [Journal Article] A New Approach to Safe Control System using Somatic Pain Characteristics2005

    • Author(s)
      N.Matsunaga, S.Kawaji
    • Journal Title

      The 2005 International Symposium on Advanced Engineering, Busan

      Pages: 258-263

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 上肢の表面痛の特性に基づく痛みモデルの構築2005

    • Author(s)
      赤山聖子, 松永信智, 川路茂保
    • Journal Title

      第20回熊本県産学官技術講演会公演論文集

      Pages: 124-125

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 表面痛のモデリングとロボット制御への応用2005

    • Author(s)
      松永信智, 川路茂保
    • Journal Title

      第11回ロボティクスシンポジア

      Pages: 198-203

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Motion Analysis of Upper Limb Skelton based on Biomechanics2004

    • Author(s)
      Kousei NOJIRI
    • Journal Title

      Proc. of 23th SICE Kyushu Branch Annual conference

      Pages: 157-158

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 外乱オブザーバを用いた柔軟物の力制御2004

    • Author(s)
      土肥丈紀, 松永信智, 川路茂保
    • Journal Title

      ロボティクス・メカトロニクス講演会'04講演論文集

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 人間の身体運動の分析-持ち上げ動作の相分解-2004

    • Author(s)
      松永信智, 川路茂保
    • Journal Title

      第5回SICEシステムインテグレーション部門(SI部門)講演会

      Pages: 641-642

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 非線形オブザーバを用いた柔軟物のセンサレス力制御2004

    • Author(s)
      福井聡一郎, 松永信智, 川路茂保
    • Journal Title

      第5回SICEシステムインテグレーション部門(SI部門)講演会

      Pages: 516-517

    • Related Report
      2004 Annual Research Report
  • [Journal Article] バイオメカニクスに基づく上肢骨格の動作分析2004

    • Author(s)
      野尻絋聖, 松永信智, 川路茂保
    • Journal Title

      計測自動制御学会九州支部学術講演会

      Pages: 157-158

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 人の立ち上がり動作の生成と分析2004

    • Author(s)
      松永信智, 川路茂保, 赤星祐介
    • Journal Title

      計測自動制御学会九州支部学術講演会

      Pages: 301-302

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 上肢用CPM装置の開発2004

    • Author(s)
      野尻絋聖, 松永信智, 川路茂保
    • Journal Title

      第19回熊本県産学官技術講演会公演論文集

      Pages: 98-99

    • Related Report
      2004 Annual Research Report
  • [Journal Article] バイオメカニクスに基づく上肢骨格の動作分析2000

    • Author(s)
      野尻絋聖
    • Journal Title

      第23回計測自動制御学会九州支部学術講演会

      Pages: 157-158

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Impedance Control of CPM Device with Flex-/Extension and Pro-/Supination of Upper Limbs

    • Author(s)
      Nobutomo MATSUNAGA
    • Journal Title

      2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2007 (to be published)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary

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

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