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Development of a design method for an external muscle-type clothing robot based on a tensegrity model of the human body's musculoskeletal structure

Research Project

Project/Area Number 19H02112
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionOsaka University

Principal Investigator

Kobayashi Yo  大阪大学, 大学院基礎工学研究科, 准教授 (50424817)

Co-Investigator(Kenkyū-buntansha) 大谷 智仁  大阪大学, 大学院基礎工学研究科, 准教授 (40778990)
田中 正夫  大阪大学, 基礎工学研究科, 教授 (40163571)
Project Period (FY) 2019-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥17,160,000 (Direct Cost: ¥13,200,000、Indirect Cost: ¥3,960,000)
Fiscal Year 2022: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2021: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2020: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2019: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Keywords服型ロボット / テンセグリティ / 筋骨格構造 / 外筋型服ロボット
Outline of Research at the Start

本課題は,柔軟,軽量な服型ロボットの開発を目指した研究である.人間の筋骨格の構造を模倣することで,人間との親和性が高い柔軟な服型ロボットを開発するための方法論を確立することを目的とする.特に,人体の筋骨格構造のモデルとして「テンセグリティ」に着目し,テンセグリティモデルを規範とした設計手法を構築する.

Outline of Final Research Achievements

To develop hardware for wearable robots with high affinity with humans, we developed a tensegrity model of the musculoskeletal structure of the human body. In addition, by making the wearable robot a flexible clothing type, we developed a wearable robot with high affinity with the human body, which enables easy wearing and soft feeling of wearing that could not be realized with hard metal parts.

Academic Significance and Societal Importance of the Research Achievements

近年少子高齢化といった社会的背景から、高齢者・障碍者の動作・生活を支援することを目的として、装着型ロボットの開発が進められている。本研究の成果は、装着型ロボットを柔軟な服型とすることで、硬い金属部材では実現できなかった装着の容易さ、装着感の柔らかさが実現可能となり、人体との親和性の高い装着型ロボットの実現が期待される.

Report

(5 results)
  • 2023 Final Research Report ( PDF )
  • 2022 Annual Research Report
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • 2019 Annual Research Report
  • Research Products

    (11 results)

All 2022 2021 2020 2019

All Journal Article (5 results) (of which Peer Reviewed: 5 results) Presentation (6 results) (of which Int'l Joint Research: 2 results)

  • [Journal Article] Computational Modelling of Ankle-Foot Orthosis to Evaluate Spatially Asymmetric Structural Stiffness: Importance of Geometric Nonlinearity2022

    • Author(s)
      Wataru Sumihira, Tomohiro Otani, Yo Kobayashi, Masao Tanaka
    • Journal Title

      Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine

      Volume: 236 Pages: 1357-1364

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Topology optimization of a thin orthosis structure with geometric nonlinearity using a three-dimensional corotational triangle element formulation2022

    • Author(s)
      Tomohiro Otani, Wataru Sumihira, Yo Kobayashi, Masao Tanaka,
    • Journal Title

      Structural and multidisciplinary optimization

      Volume: 65 Pages: 1-12

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of a Soft Exosuit for Suppressing Essential Tremor2021

    • Author(s)
      Yo Kobayashi, Yuya Matsumoto, Motoji Kawasaki, Akira Kato, Takeshi Ando, Masanori Nagaoka, Masakatsu G. Fujie
    • Journal Title

      IEEE Transactions on Medical Robotics and Bionics

      Volume: 3(3) Pages: 783-790

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 2-D forward dynamics simulation of gait adaptation to muscle weakness in elderly gait2021

    • Author(s)
      Arakawa Tatsuya、Otani Tomohiro、Kobayashi Yo、Tanaka Masao
    • Journal Title

      Gait & Posture

      Volume: 85 Pages: 71-77

    • DOI

      10.1016/j.gaitpost.2021.01.011

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Computational study of kinematics of the anterior cruciate ligament double-bundle structure during passive knee flexion?extension2020

    • Author(s)
      Otani Tomohiro、Kobayashi Yo、Tanaka Masao
    • Journal Title

      Medical Engineering & Physics

      Volume: 83 Pages: 56-63

    • DOI

      10.1016/j.medengphy.2020.07.015

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Presentation] 肘関節角の予測における複数の時系列モデルの比較評価2022

    • Author(s)
      坂之上大輝,小林洋,田中正夫
    • Organizer
      日本機械学会関西支部第97期定時総会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 患者個別に適切な底背屈剛性を有する短下肢装具形状のトポロジー最適設計2021

    • Author(s)
      住平航,大谷智仁,小林洋,田中正夫
    • Organizer
      第32回バイオフロンティア講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] シューホーン型短下肢装具のトリムラインと底背屈剛性に関する有限要素解析2021

    • Author(s)
      住平航,大谷智仁,小林洋,田中正夫
    • Organizer
      日本機械学会第33回バイオエンジニアリング講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] Shape Memory Alloy Actuated Ankle-Foot Orthosis for Reduction of Locomotion Force2021

    • Author(s)
      Ahmad Alminnawi, Yo Kobayashi, Tomohiro Otani, Masao Tanaka
    • Organizer
      Proceedings of 2021 World Automation Congress
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 脊椎テンセグリティモデルによる靭帯張力バランスに関する検討2020

    • Author(s)
      磯部高弥,小林洋,大谷智仁,田中正夫
    • Organizer
      日本機械学会 関西学生会2019年度学生員卒業研究発表講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] Musculoskeletal Tensegrity Model of Glenohumeral Joint for Distribution Analysis of Muscle Tension2019

    • Author(s)
      Y. Doi, Y. Kobayashi, T.Otani, M. Tanaka
    • Organizer
      10th Asian-Pacific Conference on Biomechanics
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research

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Published: 2019-04-18   Modified: 2025-01-30  

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