| Budget Amount *help |
¥41,210,000 (Direct Cost: ¥31,700,000、Indirect Cost: ¥9,510,000)
Fiscal Year 2019: ¥8,580,000 (Direct Cost: ¥6,600,000、Indirect Cost: ¥1,980,000)
Fiscal Year 2018: ¥8,970,000 (Direct Cost: ¥6,900,000、Indirect Cost: ¥2,070,000)
Fiscal Year 2017: ¥8,970,000 (Direct Cost: ¥6,900,000、Indirect Cost: ¥2,070,000)
Fiscal Year 2016: ¥14,690,000 (Direct Cost: ¥11,300,000、Indirect Cost: ¥3,390,000)
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| Outline of Final Research Achievements |
Taking "dressing" as a subject, one of the vital life functions of humans, we constructed a dual-armed robot system that learns human assisting skills and performs mechanical assistance through clothing. Analysis of the skilled person's dressing assistance skills showed that the system did not exert significant force from the fingers to the garment. Based on the motor trajectories of human dressing assistance, we developed imitation using the statically adaptive and robust DMP method, automatic extraction of the latent space (low-dimensional space) of the dual arm movements necessary for the task, and efficient reinforcement learning using this space. We demonstrated their effectiveness through experiments on healthy subjects. We initially focused our research on the assistance operation of putting on a shirt from the head. Still, in response to the needs of nursing care facilities, we finally constructed a system that can assist with putting on a shirt that opens in front of the head.
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