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Studies on improvement of comfort and safety concerning omnidirectional wheelchair

Research Project

Project/Area Number 19560271
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionGifu National College of Technology

Principal Investigator

KITAGAWA Hideo  Gifu National College of Technology, 電子制御工学科, 教授 (80224955)

Co-Investigator(Kenkyū-buntansha) 寺嶋 一彦  豊橋技術科学大学, 工学部, 教授 (60159043)
Co-Investigator(Renkei-kenkyūsha) TERASHIMA Kazuhiko  豊橋技術科学大学, 工学部, 教授 (60159043)
Project Period (FY) 2007 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2008: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2007: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Keywords人間機械システム / 運動制御 / 車椅子 / 福祉機器 / ロボット / 全方向移動 / 操作性 / 快適性
Research Abstract

乗り心地が良く, 段差乗り越え可能な全方向移動機構を設計・製作し, その基本動作を確認した.次に, 全方向移動車椅子を用いて, 計測した環境計測データに基づいて, ジョイスティックのインピーダンスを変化させる半自律制御を実現するとともに, 介助者の操作入力から車椅子への入力(介助者の意図)を推定し, 駆動モータの入力を変化させるパワーアシスト制御において, 様々な介助者に対応可能なシステムを実現した.

Report

(3 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • Research Products

    (11 results)

All 2009 2008 2007

All Journal Article (9 results) (of which Peer Reviewed: 9 results) Presentation (1 results) Book (1 results)

  • [Journal Article] 全方向移動ロボットのための差動駆動操舵機構の開発2009

    • Author(s)
      北川秀夫, 大野貴, 三好孝典, 寺嶋一彦
    • Journal Title

      日本ロボット学会誌 Vol.27, No.3,

      Pages: 343-349

    • NAID

      10024789985

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Skill-Assist Control of Omnidirectional Wheelchair Using Human-Friendly Interface,2008

    • Author(s)
      H. Kitagawa, T. Miyoshi, K. Terashima
    • Journal Title

      Proc. IEEE Int. Conf. on Robotics and Biomimetics

      Pages: 0-0

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Skill Assist Neuro-Fuzzy Control of Omni-directional Wheelchair for Attendants Considering Rotation Center of Vehicle2008

    • Author(s)
      K. Terashima, K. Watanabe, Y. Kondo, T. Miyoshi, J. Urbano, S. Kitamura, H. Kitagawa
    • Journal Title

      Proc. 17th IFAC World Congress

      Pages: 0-0

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Navigation Guidance Control Using Haptic Feedback for Obstacle Avoidance of Omni-directional Wheelchair2008

    • Author(s)
      Y. Kondo, T. Miyoshi, K. Terashima, H. Kitagawa
    • Journal Title

      Proc. 16th Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems

      Pages: 148-148

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Skill-Assist Control of Omnidirectional Wheelchair Using Human-Friendly Interface.2008

    • Author(s)
      Hideo Kitagawa
    • Journal Title

      Proc. IEEE Int. Conf. on Robotics and Biomimetics

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Skill Assist Neuro-Fuzzy Control of Omni-directional Wheel-chair for Attendants Considering Rotation Center of Vehicle2008

    • Author(s)
      Kazuhiko Terashima
    • Journal Title

      Proc. 17th IFAC World Congress

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Navigation Guidance Control Using Haptic Feedback for Obstacle Avoidance of Omni-directional Wheelchair.2008

    • Author(s)
      Yasumasa Kondo
    • Journal Title

      Proc. 16th Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems

      Pages: 148-148

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Adaptive Control by Neuro-Fuzzy System of an Omni-Directional Wheelchair Using a Touch Panel as Human-Friendly Interface2007

    • Author(s)
      K. Terashima, Y. Noda, J. Urbano, S. Kitamura, T. Miyoshi, H. Kitagawa
    • Journal Title

      Proc. 4th Int. Conf. on Informatics in Control, Automation and Robotics

      Pages: 414-414

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] ADAPTIVE CONTROL BY NEURO-FUZZY SYSTEM OF AN OMNI-DIRECTIONAL WHEELCHAIR USING A TOUCH PANEL AS HUMAN-FRIENDLY INTERFACE.2007

    • Author(s)
      Kazuhiko Terashima
    • Journal Title

      Proc. 4th Int. Conf, on Informatics in Control, Automation and Robotics

      Pages: 414-414

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Presentation] 介助式全方向移動車椅子のスキルアシスト制御2008

    • Author(s)
      北川秀夫
    • Organizer
      平成20年電気学会産業応用部門大会
    • Place of Presentation
      高知市
    • Year and Date
      2008-08-29
    • Related Report
      2008 Annual Research Report 2008 Final Research Report
  • [Book] Development of a Human-Friendly Omni-directional Wheelchair with Safty, Comfort and Operability Using a Smart Interface. Fronitiers in Robitics, Automation and Control,2008

    • Author(s)
      K. Terashima, J. Urbano, H. Kitagawa, T. Miyoshi
    • Publisher
      (intechweb)
    • Related Report
      2008 Final Research Report

URL: 

Published: 2007-04-01   Modified: 2016-04-21  

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