| Budget Amount *help |
¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2017: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Outline of Final Research Achievements |
This project aimed at the realization of the motion control technology based on the musculoskeletal model of human upper limbs to achieve the flexible contact motion like humans. In addition, this project aimed to realize the upper limb assist system by applying this technology. The research achievements can be summarized as the following points. (1)The motion control method based on the electromyogram of each muscle and the workspace observer was developed. (2) By using the planetary gear mechanism, the 2-link manipulator with the bi-articular muscle was designed and prototyped. (3) The upper limb assist system based on the musculoskeletal model was developed.
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