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

• Project/Area Number: 24560311
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Doshisha 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: ¥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.

Research Products

• [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
  • Peer Reviewed
• [Journal Article] Development of the Walking-Support Robot Equipped with Force Detecting System (2013)
  • Author(s): Katsuhiko Nishizawa, Toru Tsumugiwa, Ryuichi Yokogawa
  • Journal Title: SICE Annual Conference 2013 Volume: 2013 Pages: 2696-2698
  • 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
• [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
• [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
• [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
• [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