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Development of a manipulator to realize optimum exercise therapy fitting conditions

Research Project

Project/Area Number 20560411
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionMie University

Principal Investigator

HIRAI Junji  Mie University, 大学院・工学研究科, 教授 (30345996)

Co-Investigator(Kenkyū-buntansha) KOMADA Satoshi  三重大学, 大学院・工学研究科, 准教授 (10215387)
Project Period (FY) 2008 – 2010
Project Status Completed (Fiscal Year 2010)
Budget Amount *help
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2008: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Keywords理学療法 / トレーニング / マニピュレータ / バイオフィードバック / 筋張力 / 筋活動 / 肢 / 関節粘弾性 / リハビリテーション / 筋肉
Research Abstract

There are three parts in the results of the research.
(1) Biofeedback during motion of limbs
Real-time estimation methods of muscle force during motion of limbs are developed.
(2)Quantitative training of limbs
A muscle activation level control method for each muscle group of 3 pairs of 6 muscle model is proposed using direction and magnitude of tip force of limbs. The method is applied to strength training.
(3)Development of safe training equipment for lower limbs.
A training manipulator for lower limbs using breaks is developed.

Report

(4 results)
  • 2010 Annual Research Report   Final Research Report ( PDF )
  • 2009 Annual Research Report
  • 2008 Annual Research Report
  • Research Products

    (31 results)

All 2011 2010 2009 2008 Other

All Journal Article (4 results) (of which Peer Reviewed: 4 results) Presentation (24 results) Book (2 results) Remarks (1 results)

  • [Journal Article] 肢の動作中の筋活動レベル制御法の提案とその筋力トレーニングへの応用2011

    • Author(s)
      駒田諭, 村上洋輔, 平井淳之
    • Journal Title

      電気学会論文誌D vol.131-D, no.3

      Pages: 291-296

    • NAID

      10027804969

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] 肢の動作中の筋活動レベル制御法の提案とその筋力トレーニングへの応用2011

    • Author(s)
      駒田諭, 村上洋輔, 平井淳之
    • Journal Title

      電気学会論文誌D

      Volume: 131 Pages: 291-296

    • NAID

      10027804969

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of a Biofeedback Therapeutic-Exercise-Supporting Manipulator2009

    • Author(s)
      Satoshi Komada, Yosuke Hashimoto, Noboru Okuyama, Takashi Hisada, Junji Hirai
    • Journal Title

      IEEE Trans.on Industrial Electronics vol.56, no.10

      Pages: 3914-3920

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of a Biofeedback Therapeutic-Exercise-Supporting Manipulator2009

    • Author(s)
      Satoshi Komada, Yosuke Hashimoto, Noboru Okuyama, Takashi Hisada, Junji Hirai
    • Journal Title

      IEEE Transactions on Industrial Electronics 56

      Pages: 3914-3920

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Presentation] 動的状態を考慮した機能別実効筋理論を用いた筋群別筋張力推定手法2011

    • Author(s)
      杉野貴基, 駒田諭, 平井淳之
    • Organizer
      電気学会産業計測制御研究会
    • Place of Presentation
      習志野市
    • Year and Date
      2011-03-09
    • Related Report
      2010 Annual Research Report 2010 Final Research Report
  • [Presentation] 関節粘弾性と肢の3対6筋モデルを用いた筋張力推定法2011

    • Author(s)
      臼井伸充, 駒田諭, 平井淳之
    • Organizer
      電気学会産業計測制御研究会
    • Place of Presentation
      習志野市
    • Year and Date
      2011-03-08
    • Related Report
      2010 Annual Research Report 2010 Final Research Report
  • [Presentation] Estimation Methods of Muscular Tension by Rehabilitation Support Manipulator for Future Human and Robot Convive Sustainable Society2010

    • Author(s)
      臼井伸充, 駒田諭, 平井淳之
    • Organizer
      The 17th Tri-University International Joint Seminar and Symposium 2010
    • Place of Presentation
      Chiang Mai University, THAILAND
    • Year and Date
      2010-11-11
    • Related Report
      2010 Annual Research Report 2010 Final Research Report
  • [Presentation] An estimation method of muscle forces for each muscle group using theory of functionally different effective muscles considering human dynamics2010

    • Author(s)
      杉野貴基, 駒田諭, 平井淳之
    • Organizer
      Proceedings of 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp.675-680
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      2010-09-29
    • Related Report
      2010 Final Research Report
  • [Presentation] An Estimation Method of Muscle Forces for each Muscle Group Using Theory of Functionally Different Effective Muscles Considering Human Dynamics2010

    • Author(s)
      Atsuki Sugino, Satoshi Komada, Junji Hirai
    • Organizer
      3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      2010-09-29
    • Related Report
      2010 Annual Research Report
  • [Presentation] Proposal of a Muscle Activation Level Control Method for Limbs during Motion and its Application to Strength Training2010

    • Author(s)
      駒田諭, 村上洋輔, 平井淳之
    • Organizer
      Proceedings of International Symposium on Application of Biomechanical Control Systems to Precision Engineering, ISAB 2010, -Engineering Review of Biological Evolution of Motion Control-, pp.176-181
    • Place of Presentation
      Iwaki, Fukushima
    • Year and Date
      2010-07-24
    • Related Report
      2010 Final Research Report
  • [Presentation] Proposal of a Muscle Activation Level Control Method for Limbs during Motion and its Application to Strength Training2010

    • Author(s)
      Satoshi Komada, Yosuke Murakami, Junji Hirai
    • Organizer
      International Symposium on Application of Biomechanical Control Systems to Precision Engineering, ISAB 2010
    • Place of Presentation
      Iwaki, Fukushima
    • Year and Date
      2010-07-24
    • Related Report
      2010 Annual Research Report
  • [Presentation] 機能別実効筋理論を用いた動的運動中における筋活動制御手法の提案と筋力トレーニングへの応用2010

    • Author(s)
      村上洋輔, 駒田諭, 平井淳之
    • Organizer
      電気学会産業計測制御研究会
    • Place of Presentation
      東京農工大学(小金井市)
    • Year and Date
      2010-03-09
    • Related Report
      2010 Final Research Report
  • [Presentation] 機能別実効筋理論を用いた動的運動中における筋活動制御手法の提案と筋力トレーニングへの応用2010

    • Author(s)
      村上洋輔, 駒田諭, 平井淳之
    • Organizer
      電気学会 産業計測制御研究会
    • Place of Presentation
      東京農工大学 (小金井市)
    • Year and Date
      2010-03-09
    • Related Report
      2009 Annual Research Report
  • [Presentation] 機能別実効筋理論と初動負荷理論に基づく筋力増強トレーニングに関する研究2009

    • Author(s)
      村上洋輔, 駒田諭, 平井淳之
    • Organizer
      第10回計測自動制御学会システムインテグレーション部門講演会講演論文集
    • Place of Presentation
      芝浦工業大学豊洲キャンパス(東京都)
    • Year and Date
      2009-12-24
    • Related Report
      2010 Final Research Report
  • [Presentation] 機能別実効筋理論と初動負荷理論に基づく筋力増強トレーニングに関する研究2009

    • Author(s)
      村上洋輔, 駒田諭, 平井淳之
    • Organizer
      第10回計測自動制御学会システムインテグレーション部門講演会講演論文集
    • Place of Presentation
      芝浦工業大学豊洲キャンパス (東京都)
    • Year and Date
      2009-12-24
    • Related Report
      2009 Annual Research Report
  • [Presentation] 機能別実効筋理論を用いた筋群別筋張力推定手法2009

    • Author(s)
      村上洋輔, 駒田諭, 平井淳之
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜国立大学(横浜市)
    • Year and Date
      2009-09-17
    • Related Report
      2010 Final Research Report
  • [Presentation] 機能別実効筋理論を用いた筋群別筋張力推定手法2009

    • Author(s)
      村上洋輔, 駒田諭, 平井淳之
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜国立大学 (横浜市)
    • Year and Date
      2009-09-17
    • Related Report
      2009 Annual Research Report
  • [Presentation] Setting of Training Load Using Theory of Functional Effective Muscle2009

    • Author(s)
      村上洋輔, 駒田諭, 平井淳之
    • Organizer
      Proceedings of 2009 IEEE 11th International Conference on Rehabilitation Robotics, pp.946-949
    • Place of Presentation
      Kyoto
    • Year and Date
      2009-06-26
    • Related Report
      2010 Final Research Report
  • [Presentation] Setting of Training Load Using Theory of Functional Effective Muscle2009

    • Author(s)
      Yosuke Murakami, Satoshi Komada, Junji Hirai
    • Organizer
      2009 IEEE 11th International Conference on Rehabilitation Robotics
    • Place of Presentation
      国立京都国際会館 (京都市)
    • Year and Date
      2009-06-26
    • Related Report
      2009 Annual Research Report
  • [Presentation] 拮抗筋張力推定のための筋骨格粘弾性モデルを用いた筋張力推定手法2009

    • Author(s)
      藤井厚志, 駒田諭, 平井淳之
    • Organizer
      電気学会産業計測制御研究会
    • Place of Presentation
      成蹊大学(東京都武蔵野市)
    • Year and Date
      2009-03-10
    • Related Report
      2010 Final Research Report
  • [Presentation] 拮抗筋張力推定のための筋骨格粘弾性モデルを用いた筋張力推定手法2009

    • Author(s)
      藤井厚志
    • Organizer
      電気学会 産業計測制御研究会
    • Place of Presentation
      成蹊大学(東京都)
    • Year and Date
      2009-03-10
    • Related Report
      2008 Annual Research Report
  • [Presentation] 機能別実効筋理論を用いたトレーニングにおける負荷設定2008

    • Author(s)
      村上洋輔, 駒田諭, 平井淳之
    • Organizer
      (社)計測自動制御学会中部支部平成20年三重地区計測制御研究講演会
    • Place of Presentation
      三重大学(津市)
    • Year and Date
      2008-12-17
    • Related Report
      2010 Final Research Report
  • [Presentation] 機能別実効筋理論を用いたトレーニングにおける負荷設定2008

    • Author(s)
      村上洋輔
    • Organizer
      (社)計測自動制御学会中部支部 平成20年重地区計測制御研究講演会
    • Place of Presentation
      三重大学(三重県)
    • Year and Date
      2008-12-17
    • Related Report
      2008 Annual Research Report
  • [Presentation] 拮抗筋張力推定のための筋骨格粘弾性モデルを用いた筋張力推定手法2008

    • Author(s)
      藤井厚志
    • Organizer
      電気学会東海支部若手セミナー 次世代パワーエレクトロニクス技術の新展開 第2回
    • Place of Presentation
      中部大学研修センター(恵那市)
    • Year and Date
      2008-11-29
    • Related Report
      2010 Final Research Report 2008 Annual Research Report
  • [Presentation] バイオフィードバックのための筋力推定手法2008

    • Author(s)
      駒田諭, 藤井厚志, 平井淳之
    • Organizer
      平成20年電気学会産業応用部門大会
    • Place of Presentation
      高知市文化プラザ「かるぽーと」(高知県)
    • Year and Date
      2008-08-27
    • Related Report
      2010 Final Research Report
  • [Presentation] 機能別実効筋理論を用いたトレーニングに関する研究2008

    • Author(s)
      村上洋輔, 駒田諭, 平井淳之
    • Organizer
      平成20年電気学会産業応用部門大会
    • Place of Presentation
      高知市文化プラザ「かるぽーと」(高知県)
    • Year and Date
      2008-08-27
    • Related Report
      2010 Final Research Report
  • [Presentation] バイオフィードバックのための筋力推定手法2008

    • Author(s)
      駒田諭
    • Organizer
      平成20年電気学会産業応用部門大会
    • Place of Presentation
      高知市文化プラザ「かるぽ-と」(高知県)
    • Year and Date
      2008-08-27
    • Related Report
      2008 Annual Research Report
  • [Presentation] 機能別実効筋理論を用いたトレーニングに関する研究2008

    • Author(s)
      村上洋輔
    • Organizer
      平成20年電気学会産業応用部門大会
    • Place of Presentation
      高知市文化プラザ「かるぽ-と」(高知県)
    • Year and Date
      2008-08-27
    • Related Report
      2008 Annual Research Report
  • [Book] 環境適応型モーションコントロールの最新技術2008

    • Author(s)
      環境適応型モーションコントロール協同研究委員会編(駒田諭, 他)
    • Total Pages
      123
    • Publisher
      電気学会
    • Related Report
      2010 Final Research Report
  • [Book] 環境適応型モーションコントロールの最新技術2008

    • Author(s)
      環境適応型モーションコントロール協同研究委員会編
    • Publisher
      電気学会
    • Related Report
      2008 Annual Research Report
  • [Remarks] ホームページ等

    • URL

      http://www.ems.elec.mie-u.ac.jp/

    • Related Report
      2010 Final Research Report

URL: 

Published: 2008-04-01   Modified: 2016-04-21  

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