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Omnidirectional wheelchair considering rider's safety and attendant's manipulability

Research Project

Project/Area Number 24560317
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionGifu National College of Technology

Principal Investigator

KITAGAWA HIDEO  岐阜工業高等専門学校, その他部局等, 教授 (80224955)

Co-Investigator(Renkei-kenkyūsha) TERASHIMA Kazuhiko  豊橋技術科学大学, 工学(系)研究科(研究院), 教授 (60159043)
Project Period (FY) 2012-04-01 – 2015-03-31
Project Status Completed (Fiscal Year 2014)
Budget Amount *help
¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2013: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2012: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywords人間機械システム / 車椅子 / 全方向移動 / 福祉 / ロボット / 移動ロボット / パワーアシスト / 障害物回避
Outline of Final Research Achievements

Omnidirectional wheelchair is useful with its high mobility in narrow or crowded area,and omnidirectional wheelchair equipped with normal tires is desired for difference excess, vibration suppression and ride comfort. We developed an effective system to control the caster-drive wheels of omnidirectional wheelchair. Semi-autonomous obstacle avoidance system using laser range data for rider’s safety and power assist system for omnidirectional transport wheelchair considering attendant's manipulability and rider's comfort have been developed. Omnidirectional bed using the caster-dive wheels also has been developed.

Report

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

    (9 results)

All 2014 2013 2012

All Journal Article (2 results) (of which Peer Reviewed: 2 results) Presentation (7 results)

  • [Journal Article] Development of an Innovative Power-Assist Omni-directional Mobile Bed Considering Operator's Characteristics2014

    • Author(s)
      Y. Ueno, H. Kitagawa, K. Kakihara, T. Sakakibara, K. Terashima
    • Journal Title

      International Journal of Automation Technology

      Volume: vol.8, no.3 Pages: 490-499

    • NAID

      130007673835

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 全方向移動ロボットのための平歯車型差動駆動操舵機構の開発2012

    • Author(s)
      上野祐樹
    • Journal Title

      日本機械学会論文集C編

      Volume: 78 Pages: 1872-1885

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Presentation] パワーアシスト型移動ロボットにおいて可操作性楕円体の大きさが操作性に与える影響の実験検証2014

    • Author(s)
      上野祐樹,北川秀夫,寺嶋一彦
    • Organizer
      第15回計測自動制御学会 システムインテグレーション部門講演会
    • Place of Presentation
      東京ビッグサイト
    • Year and Date
      2014-12-15 – 2014-12-17
    • Related Report
      2014 Annual Research Report
  • [Presentation] 人物追従ロボットのためのセンサフュージョンによる追従対象特定システムの構築2014

    • Author(s)
      國廣和樹,北川秀夫,田崎良佑,寺嶋一彦
    • Organizer
      第15回計測自動制御学会 システムインテグレーション部門講演会
    • Place of Presentation
      東京ビッグサイト
    • Year and Date
      2014-12-15 – 2014-12-17
    • Related Report
      2014 Annual Research Report
  • [Presentation] パワーアシスト型移動ロボットにおける可操作性楕円体を用いた操作者の姿勢と操作性に関する考察2014

    • Author(s)
      上野祐樹,北川秀夫,寺嶋一彦
    • Organizer
      第32回日本ロボット学会学術講演会
    • Place of Presentation
      九州産業大学
    • Year and Date
      2014-09-04 – 2014-09-06
    • Related Report
      2014 Annual Research Report
  • [Presentation] 免荷装置付き移動式歩行訓練器の体重免荷制御システムの構築2013

    • Author(s)
      松尾一博
    • Organizer
      第14回計測自動制御学会 システムインテグレーション部門講演会
    • Place of Presentation
      神戸
    • Related Report
      2013 Research-status Report
  • [Presentation] Control system of omni-directional mobile robot with caster drive mechanism to develop reduction of motor output.2012

    • Author(s)
      Y. Ueno
    • Organizer
      15th Int. Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machine
    • Place of Presentation
      Baltimore, USA
    • Related Report
      2012 Research-status Report
  • [Presentation] 差動駆動操舵機構を用いたパワーアシスト制御型全方向移動台車の開発とモータ出力低減化手法の提案2012

    • Author(s)
      上野祐樹
    • Organizer
      第13回計測自動制御学会 システムインテグレーション部門講演会
    • Place of Presentation
      福岡
    • Related Report
      2012 Research-status Report
  • [Presentation] キャスタ駆動輪を有する全方向移動ロボットにおける旋回時モータ出力上昇の原因解析と低減手法の提案2012

    • Author(s)
      上野祐樹
    • Organizer
      第30回日本ロボット学会学術講演会
    • Place of Presentation
      札幌
    • Related Report
      2012 Research-status Report

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

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