• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Fall prevention control of distributed cooperative walking support robots based on a form formation problem

Research Project

Project/Area Number 24560311
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionDoshisha University

Principal Investigator

YOKOGAWA Ryuichi  同志社大学, 生命医科学部, 教授 (70220548)

Project Period (FY) 2012-04-01 – 2015-03-31
Project Status Completed (Fiscal Year 2014)
Budget Amount *help
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2013: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2012: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Keywords歩行支援 / ロボティクス / リハビリテーション / 移動ロボット / 分散協調 / ロボット / レーザ計測
Outline of Final Research Achievements

The purpose of this study is to develop the device by which elder people can keep or increase the walking task performance depending on their performances in everyday locomotion of short distances. The geometrical measure was described by the force which the pedestrian gave to the robot, and the relative position between the pedestrian and the robot measured with laser-range-sensors. It was determined whether the pedestrian would fall down by the value of the measure. The robots moved and varied the relative position to prevent the pedestrian from falling down. The walking posture and falling-down posture of a life-size doll simulating a pedestrian were measured with the 3-D motion capture system. The measurement results indicated objectively the validity of the algorithm for preventing the pedestrian from falling down.

Report

(4 results)
  • 2014 Annual Research Report   Final Research Report ( PDF )
  • 2013 Research-status Report
  • 2012 Research-status Report
  • Research Products

    (7 results)

All 2015 2013 2012 Other

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

  • [Journal Article] 被歩行補助者の位置変位検出に基づく杖型歩行支援ロボットの運動制御法の開発2013

    • Author(s)
      森多 隼也,積際 徹,横川 隆一
    • Journal Title

      機械学会論文集C編

      Volume: 79巻,806号 Pages: 3584-3596

    • NAID

      130003386424

    • Related Report
      2013 Research-status Report
    • Peer Reviewed
  • [Journal Article] Development of the Walking-Support Robot Equipped with Force Detecting System2013

    • Author(s)
      Katsuhiko Nishizawa, Toru Tsumugiwa, Ryuichi Yokogawa
    • Journal Title

      SICE Annual Conference 2013

      Volume: 2013 Pages: 2696-2698

    • Related Report
      2013 Research-status Report
    • Peer Reviewed
  • [Presentation] 被歩行補助者の状態推定に基づく歩行支援ロボットの運動制御2015

    • Author(s)
      川端 一帆、横川 隆一、積際 徹
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      京都市勧業館「みやこめっせ」(京都市・左京区岡崎成勝寺町9-1)
    • Year and Date
      2015-05-19
    • Related Report
      2014 Annual Research Report
  • [Presentation] キッチンスケール用計測モジュールを用いた歩行支援ロボットのための力覚検出インターフェースの開発2012

    • Author(s)
      西澤 克彦、積際 徹、横川 隆一
    • Organizer
      第55回 自動制御連合講演会
    • Place of Presentation
      京都大学
    • Related Report
      2012 Research-status Report
  • [Presentation] 歩容推定と操作力による杖型歩行支援ロボットの運動制御2012

    • Author(s)
      植村 樹、積際 徹、横川 隆一
    • Organizer
      第55回 自動制御連合講演会
    • Place of Presentation
      京都大学
    • Related Report
      2012 Research-status Report
  • [Presentation] 運動感覚に基づいた杖型歩行支援ロボットにおける操作部の位置決定2012

    • Author(s)
      森多 隼也、積際 徹、横川 隆一
    • Organizer
      第55回 自動制御連合講演会
    • Place of Presentation
      京都大学
    • Related Report
      2012 Research-status Report
  • [Remarks] メディカルロボティクス研究室(学部研究科ホームページ内)

    • URL

      http://biomedical.doshisha.ac.jp/graduate/g_engineering_info/engineering.html

    • Related Report
      2014 Annual Research Report

URL: 

Published: 2013-05-31   Modified: 2019-07-29  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi