• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Quantification of uncomfortable feeling in operation of power assist device and development of method to reduce discomfort based on it

Research Project

Project/Area Number 16H02881
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent robotics
Research InstitutionMie University

Principal Investigator

IKEURA Ryojun  三重大学, 工学研究科, 教授 (20232168)

Co-Investigator(Kenkyū-buntansha) 早川 聡一郎  三重大学, 工学研究科, 准教授 (50288552)
Project Period (FY) 2016-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥16,120,000 (Direct Cost: ¥12,400,000、Indirect Cost: ¥3,720,000)
Fiscal Year 2019: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2018: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2017: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2016: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Keywordsユーザーインターフェース / マンマシンインターフェース / パワーアシスト / 違和感 / 質量感 / ユーザインターフェース
Outline of Final Research Achievements

Although the power assist device is indispensable for the current aging society, it is necessary to avoid the occurrence of accidents due to the feeling of discomfort and fear of the operation. In this research, we developed a method for predicting the feeling of weight that a person expects before operating and a method of controlling the feeling of weight that is suitable for the operation, in order to reduce the feeling of the discomfort and fear in the feeling of weight. Specifically, we predicted the feeling of weight from the force data at the moment of starting the operation, and based on that, we changed the weight control of the assist device during operation. As a result, it was shown that the discomfort during operation can be reduced by controlling the feeling of weight.

Academic Significance and Societal Importance of the Research Achievements

パワーアシスト技術は現状の高齢社会において必須であるが,使用するのに違和感や恐怖感があっては,世の中に浸透させることは不可能である.従来研究では,操作した感覚をアンケート等で評価し,それに基づく制御方法の改良を行ってきたが試行錯誤が多く,体系的な改善は困難となっていた.そこで本研究では,違和感や恐怖感は,使用者が予め予想した操作感と実際に感じた操作感との乖離によることに注目し,その操作感の隔たりを縮小することを試みたもので,その学術的及び社会的意義は非常に大きい.

Report

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

    (16 results)

All 2020 2019 2018 2017 2016 Other

All Journal Article (5 results) (of which Int'l Joint Research: 5 results,  Peer Reviewed: 5 results,  Open Access: 5 results) Presentation (9 results) (of which Int'l Joint Research: 3 results,  Invited: 1 results) Remarks (2 results)

  • [Journal Article] Weight-perception-based fixed and variable admittance control algorithms for unimanual and bimanual lifting of objects with a power assist robotic system2018

    • Author(s)
      S M Mizanoor Rahman and Ryojun Ikeura
    • Journal Title

      International Journal of Advanced Robotic Systems

      Volume: 1 Issue: 4 Pages: 1-15

    • DOI

      10.1177/1729881416678131

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Calibrating intuitive and natural human-robot interaction and performance for power-assisted heavy object manipulation using cognition-based intelligent admittance control schemes2018

    • Author(s)
      S M Mizanoor Rahman and Ryojun Ikeura
    • Journal Title

      International Journal of Advanced Robotic Systems

      Volume: 1 Issue: 4 Pages: 1-18

    • DOI

      10.1177/1729881418773190

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Cognition-based variable admittance control for active compliance in flexible manipulation of heavy objects with a power-assist robotic system2018

    • Author(s)
      S.M.Mizanoor Rahman and Ryojun Ikeura
    • Journal Title

      Robotics and Biomimetics

      Volume: 5 Issue: 1 Pages: 1-25

    • DOI

      10.1186/s40638-018-0090-x

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Weight-Prediction-Based Predictive Optimal Position and Force Controls of a Power Assist Robotic System for Object Manipulation2016

    • Author(s)
      S. M. Mizanoor Rahman and Ryojun Ikeura
    • Journal Title

      IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

      Volume: 63 Issue: 9 Pages: 5964-5975

    • DOI

      10.1109/tie.2016.2561879

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Cognition-Based Control and Optimization Algorithms for Optimizing Human-Robot Interactions in Power-Assisted Object Manipulation2016

    • Author(s)
      S. M. Mizanoor Rahman and Ryojun Ikeura
    • Journal Title

      JOURNAL OF INFORMATION SCIENCE AND ENGINEERING

      Volume: 32 Pages: 1325-1344

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] パワーアシスト装置を用いた運搬作業における操作者の予想重量の推定2020

    • Author(s)
      加藤 健, 芹川 聡, 池浦良淳, 早川聡一郎, 堤 成可, 澤井秀樹
    • Organizer
      日本機械学会東海支部第69期総会・講演会講演論文集
    • Related Report
      2019 Annual Research Report
  • [Presentation] 人の持ち上げ動作における違和感の発生メカニズムの解明及び予測質量の推定2019

    • Author(s)
      芹川 聡, 池浦良淳, 早川聡一郎, 堤 成可, 多氣淳史, 澤井秀樹
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2019講演論文集
    • Related Report
      2019 Annual Research Report
  • [Presentation] Relationship between characteristics of human lifting motion and predicted mass2019

    • Author(s)
      Satoru Serikawa, Ryojun Ikeura, Soichiro Hayakawa, Shigeyoshi Tsutsumi and Hideki Sawai
    • Organizer
      Proceeding of the IEEE International Conference on Robotics and Biomimetics
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 人間機械協調システム2018

    • Author(s)
      池浦良淳
    • Organizer
      名古屋大学・名古屋工業大学・三重大学・岐阜大学・豊橋技術科学大学 ロボティクス分野等の共同開発に関わる合同説明会
    • Related Report
      2018 Annual Research Report
  • [Presentation] Human-Robot Cooperative System2018

    • Author(s)
      Ryojun Ikeura
    • Organizer
      International Conference on Computational Approach in Smart System Design and Applications
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 重量感覚が予測と異なる場合の持ち上げ動作解析2018

    • Author(s)
      芹川 聡, 多氣淳史, 池浦良淳, 早川聡一郎, 堤 成可, 澤井秀樹
    • Organizer
      日本人間工学会東海支部2018年研究大会論文集
    • Related Report
      2018 Annual Research Report
  • [Presentation] Analysis of characteristics of human lifting operation leading to discomfort caused by the difference between assumed mass and perceived mass2018

    • Author(s)
      Atsushi Tage, Satoru Serikawa, Ryojyun Ikeura, Hideki Sawai, Shigeyoshi Tsutsumi and Soichiro Hayakawa
    • Organizer
      Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] モータを付加した直列弾性駆動システムのインピーダンス制御(目標応答性を考慮した弾性要素のばね定数の設計法)2017

    • Author(s)
      多氣淳史, 日下部恭士, 池浦良淳, 早川聡一郎
    • 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 Annual Research Report
  • [Presentation] パワーアシストによる物体持ち上げ作業の重量知覚特性解析に関する研究(慣性制御が人の重量知覚特性に与える影響)2017

    • Author(s)
      多氣淳史, Bui Minh Nhat, 池浦良淳, 早川聡一郎
    • Organizer
      第18回システムインテグレーション部門講演会
    • Related Report
      2017 Annual Research Report
  • [Remarks] 人間支援システム研究室ホームページ

    • URL

      http://ss.mach.mie-u.ac.jp/

    • Related Report
      2019 Annual Research Report
  • [Remarks] システム設計研究室ホームページ

    • URL

      http://ss.mach.mie-u.ac.jp/

    • Related Report
      2018 Annual Research Report 2017 Annual Research Report

URL: 

Published: 2016-04-21   Modified: 2021-02-19  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi