| Budget Amount *help |
¥25,480,000 (Direct Cost: ¥19,600,000、Indirect Cost: ¥5,880,000)
Fiscal Year 2019: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2018: ¥9,880,000 (Direct Cost: ¥7,600,000、Indirect Cost: ¥2,280,000)
Fiscal Year 2017: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2016: ¥11,050,000 (Direct Cost: ¥8,500,000、Indirect Cost: ¥2,550,000)
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| Outline of Final Research Achievements |
In order to achieve safer assisting for complex body parts such as body trunk, wearable assistive robots enabling to measure the contact force with wearer have been researched. We have developed a design methodology of robot’s contact parts (link parts); having similar shapes with contacting humans' body parts for measuring the contact force distribution (CFD) between user and robot via tactile sensors. Also, we’ve developed a contact force predictive control system; new control strategy taking safer assist by using CFD. By using the control system, local contact forces with high magnitude occurred between wearer and robot can be reduced, and CFD with wearer can control to be intended one. Through some experiments with developed robots, both the safety of wearer and the effectiveness of the transmissibility of assistive power can be evaluated/observed/visualized with CFD.
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