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Study on robotic mobility aids for barrier-free having minimal invasiveness in cultural environments

Research Project

Project/Area Number 20760157
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTohoku University

Principal Investigator

SUGAHARA Yusuke  Tohoku University, 大学院・工学研究科, 助教 (60373031)

Project Period (FY) 2008 – 2010
Project Status Completed (Fiscal Year 2010)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2010: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2009: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2008: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Keywordsロボティクス / バリアフリー / 車いす / 移動支援 / 文化財
Research Abstract

The final target of this study involves realizing a smooth and hospitable means of locomotion for wheelchair users in environments having a cultural meaning, such as historical Japanese wooden buildings and castle ruins, without tampering with the authenticity of the environment. With this goal in mind, a prototype of a novel wheelchair having a stair-climbing function resulting from transformable wheeled four-bar linkages was developed, and the basic performance was confirmed through an experiment.

Report

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

    (15 results)

All 2011 2010 2009 2008

All Journal Article (1 results) (of which Peer Reviewed: 1 results) Presentation (12 results) Patent(Industrial Property Rights) (2 results)

  • [Journal Article] 車輪付形状可変型4節リンク機構を用いた階段昇降機構2011

    • Author(s)
      菅原雄介, 米澤直晃, 小菅一弘
    • Journal Title

      日本ロボット学会誌 Vol.29(採録決定済,印刷中)

    • NAID

      10029513889

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Presentation] A Novel Stair-Climbing Wheelchair with Transformable Wheeled Four-Bar Linkages2010

    • Author(s)
      Yusuke Sugahara
    • Organizer
      2010 IEEE/RSJ Int'l.Conf.on Intelligent Robots and Systems
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2010-10-20
    • Related Report
      2010 Annual Research Report
  • [Presentation] 車輪付形状可変型4節リンク機構を有する階段昇降機構(第2報,運動学・静力学関係と動作実験)2010

    • Author(s)
      米澤直晃, 菅原雄介, 小菅一弘
    • Organizer
      日本ロボット学会第28回学術講演会予稿集,1J3-2
    • Place of Presentation
      愛知県
    • Year and Date
      2010-09-22
    • Related Report
      2010 Final Research Report
  • [Presentation] 車輪付形状可変型4節リンク機構を有する階段昇降機構(第1報,コンセプトの提案と動作原理)2010

    • Author(s)
      菅原雄介, 米澤直晃, 小菅一弘
    • Organizer
      日本ロボット学会第28回学術講演会予稿集,1J3-1
    • Place of Presentation
      愛知県
    • Year and Date
      2010-09-22
    • Related Report
      2010 Final Research Report
  • [Presentation] 車輪付形状可変型4節リンク機構を有する階段昇降機構(第2報,運動学・静力学関係と動作実験)2010

    • Author(s)
      米澤直晃
    • Organizer
      日本ロボット学会第28回学術講演会
    • Place of Presentation
      愛知県(名古屋工業大学)
    • Year and Date
      2010-09-22
    • Related Report
      2010 Annual Research Report
  • [Presentation] 車輪付形状可変型4節リンク機構を有する階段昇降機構(第1報,コンセプトの提案と動作原理)2010

    • Author(s)
      菅原雄介
    • Organizer
      日本ロボット学会第28回学術講演会
    • Place of Presentation
      愛知県(名古屋工業大学)
    • Year and Date
      2010-09-22
    • Related Report
      2010 Annual Research Report
  • [Presentation] A Novel Stair-Climbing Wheelchair with Variable Configuration Four-Bar Linkage : Mechanism Design and Kinematics2010

    • Author(s)
      Yusuke Sugahara
    • Organizer
      ROMANSY 18-Robot Design, Dynamics and Control
    • Place of Presentation
      Udine, Italy
    • Year and Date
      2010-07-06
    • Related Report
      2010 Annual Research Report
  • [Presentation] A Novel Stair-Climbing Wheelchair with Transformable Wheeled Four-Bar Linkages2010

    • Author(s)
      Yusuke Sugahara, Naoaki Yonezawa, Kazuhiro Kosuge
    • Organizer
      Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3333-3339
    • URL

      http://dx.doi.org/10.1109/IROS.2010.5648906

    • Place of Presentation
      Taipei, Taiwan.
    • Related Report
      2010 Final Research Report
  • [Presentation] A Novel Stair-Climbing Wheelchair with Variable Configuration Four-Bar Linkage : Mechanism Design and Kinematics, ROMANSY 18 -Robot Design2010

    • Author(s)
      Yusuke Sugahara, Naoaki Yonezawa, Kazuhiro Kosuge
    • Organizer
      Dynamics and Control- Proceedings of the 18th CISM-IFToMM Symposium, pp.167-174
    • Place of Presentation
      Udine, Italy.
    • Related Report
      2010 Final Research Report
  • [Presentation] Experimental Study on Manipulator Design for Low Collision Impact Force2009

    • Author(s)
      菅原雄介
    • Organizer
      2009 IEEE/ASME Conference on Advanced Intelligent Mechatronics
    • Place of Presentation
      Suntec Singapore International Convention & Exhibition Centre, Singapore
    • Year and Date
      2009-07-16
    • Related Report
      2009 Annual Research Report
  • [Presentation] 衝突時の衝撃力を低減するマニピュレータの構成に関する実験的検証2009

    • Author(s)
      菅原雄介
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2009
    • Place of Presentation
      福岡国際会議場(福岡県)
    • Year and Date
      2009-05-25
    • Related Report
      2009 Annual Research Report
  • [Presentation] マニピュレータの駆動方式と衝突時の衝撃力に関する実験的検証2008

    • Author(s)
      野波圭吾
    • Organizer
      日本ロポット学会第26回学術講演会
    • Place of Presentation
      兵庫県
    • Year and Date
      2008-09-11
    • Related Report
      2008 Annual Research Report
  • [Presentation] 重心を陽に制御しないZMPの制御2008

    • Author(s)
      菅原雄介
    • Organizer
      日本環ポット学会第26回学術講演会
    • Place of Presentation
      兵庫県
    • Year and Date
      2008-09-09
    • Related Report
      2008 Annual Research Report
  • [Patent(Industrial Property Rights)] 階段昇降式移動車2010

    • Inventor(s)
      菅原雄介, 小菅一弘, 米澤直晃, 相川正司, 畔地芳幸
    • Industrial Property Rights Holder
      株式会社クマリフト技術研究所,国立大学法人東北大学
    • Industrial Property Number
      2010-146497
    • Filing Date
      2010-06-28
    • Related Report
      2010 Final Research Report
  • [Patent(Industrial Property Rights)] 階段昇降式移動車2010

    • Inventor(s)
      菅原雄介, 米澤直晃, 小菅一弘, 相川正司, 畔地芳幸
    • Industrial Property Rights Holder
      国立大学法人東北大学株式会社クマリフト技術研究所
    • Industrial Property Number
      2010-146497
    • Filing Date
      2010-06-28
    • Related Report
      2010 Annual Research Report

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

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