| Project/Area Number |
23700782
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Sports science
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| Research Institution | The Institute of Physical and Chemical Research |
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Principal Investigator |
DING Ming 独立行政法人理化学研究所, ロボット動作研究チーム, 特別研究員 (40585840)
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| Project Period (FY) |
2011 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
|
| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2012: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2011: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
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| Keywords | パワーアシスト / 力制御 / 硬さ制御 / 足首関節 / パラレルリンク機構 / パラレルリンク構造 |
|---|
| Research Abstract |
In this research, we developed an assistant device to support the movement of human ankle joint using a parallel mechanism. We also created an assistant system, which can measure and control the rotation angle and joint torque of ankle joint accurately. Using the measured movement, we proposed a movement model of ankle joint and proposed a control method to move the assistant device. By testing these methods with subjects using the prototype devices, the effectiveness was verified and the applications of this device were studied.
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