| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2012: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Outline of Final Research Achievements |
This project was developed automatic control sit-to-stand support system using ground reaction force. Our device is controlled by information of the user grand reaction force (GRF). In this system, the user don’t need to operate the switch or button and is given suitable and dynamic assist according to user lower limb power. First, we studied problems of our first prototype device and considered modifying support method to support at the hip. Next, experiment device for new version were developed to find suitable support trajectories of hip. This device has 2 degree freedom of X and Y, and actuated 2 motors according to GRF sensor output. We proposed 5 candidate trajectories based on subject experiment, and decided best trajectory by sit-to-stand experiment. Best trajectory was straight line, and we designed second prototype. Finally, we developed second prototype mechanism.
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