| Budget Amount *help |
¥13,520,000 (Direct Cost: ¥10,400,000、Indirect Cost: ¥3,120,000)
Fiscal Year 2023: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2022: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2021: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2020: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
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| Outline of Final Research Achievements |
Electrically motorizing systems were proposed in this research that can be retrofitted to manually operated wheelchairs and beds, enabling advanced mobility and mobility assistance. We developed a force sensing system that detects the operating force acting on the any position on a moving object. The force sensing system installed on the active-caster wheel mechanism provides 2DOF force information to the control system. We applyed the admittance control for driving the mobile objects stably by using the detected force information.
Furthermore, for the omnidirectional drive of large objects such as beds, we proposed a system that applies active caster control to standard two mobile robots and achieves cooperative control of the omnidirectional drive of an object by measuring the relative posture between the object and the robots with sensors installed in the robots. The effectiveness of each system was confirmed through experiments using prototypes.
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