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Development of Hybrid-type Motion Control Method for Intelligent Human Assistive System with Safe Function and Low Power Consumption

Research Project

Project/Area Number 24680062
Research Category

Grant-in-Aid for Young Scientists (A)

Allocation TypePartial Multi-year Fund
Research Field Rehabilitation science/Welfare engineering
Research InstitutionTohoku University

Principal Investigator

Hirata Yasuhisa  東北大学, 工学(系)研究科(研究院), 准教授 (20323040)

Project Period (FY) 2012-04-01 – 2016-03-31
Project Status Completed (Fiscal Year 2015)
Budget Amount *help
¥17,160,000 (Direct Cost: ¥13,200,000、Indirect Cost: ¥3,960,000)
Fiscal Year 2015: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2014: ¥7,930,000 (Direct Cost: ¥6,100,000、Indirect Cost: ¥1,830,000)
Fiscal Year 2013: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2012: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
Keywords医療・福祉 / 福祉ロボット / 人間支援 / ブレーキ制御
Outline of Final Research Achievements

In this research, we developed assistive systems such as the wheelchair, walker, and haptic device, with multiple functions. For controlling the assistive systems, we mainly used the DC servo motors as the regenerative brake. Based on the braking control, we could realize several assistive functions. This system can also charge the battery during the braking control, and we switches the control mode from braking one to active one in some situations such as climbing upslope. By changing the passive and active control methods appropriately, we realized the intelligent human assistive system with safe function and low power consumption.

Report

(5 results)
  • 2015 Annual Research Report   Final Research Report ( PDF )
  • 2014 Annual Research Report
  • 2013 Annual Research Report
  • 2012 Annual Research Report
  • Research Products

    (23 results)

All 2016 2015 2014 2013 2012

All Journal Article (5 results) (of which Peer Reviewed: 5 results) Presentation (15 results) (of which Int'l Joint Research: 5 results,  Invited: 2 results) Book (3 results)

  • [Journal Article] Motion Control of Wearable-Type Walking Support System based on the Spring-Mass Model2015

    • Author(s)
      Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge
    • Journal Title

      Advanced Robotics

      Volume: 27 Issue: 20 Pages: 1339-1355

    • DOI

      10.1080/01691864.2015.1090335

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 複数のパッシブ型移動ロボットと人間との協調による単一物体の搬送2013

    • Author(s)
      平田泰久,小嶋洋介,小菅一弘
    • Journal Title

      計測自動制御学会論文集

      Volume: 49 Pages: 353-361

    • NAID

      10031160125

    • Related Report
      2013 Annual Research Report 2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Motion Support during the Swing Phase using Cooperative Walking Support System2013

    • Author(s)
      Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Hiroshi Onodera
    • Journal Title

      Advanced Robotics

      Volume: 27 Issue: 17 Pages: 1337-1349

    • DOI

      10.1080/01691864.2013.826412

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Investigation of User Load and Evaluation of Power Assistive Control on Cycling Wheelchair2013

    • Author(s)
      Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge
    • Journal Title

      Janul of Robotics and Mechatronics

      Volume: 25 Pages: 959-965

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Motion Control of Caster-type Passive Mobile Robot with Servo Brakes2012

    • Author(s)
      Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge
    • Journal Title

      Advanced Robotics

      Volume: 26 Issue: 11-12 Pages: 1271-1290

    • DOI

      10.1080/01691864.2012.689728

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Presentation] Cadence Control of Cycling Wheelchair with Continuously Variable Transmission and Servo Brake2016

    • Author(s)
      Yasuhisa Hirata, Shotaro Ando, Kazuhiro Kosuge
    • Organizer
      The 2016 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      ストックホルム,スウェーデン
    • Year and Date
      2016-05-17
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Mobility Assistance Robots Controlled by Servo Brakes2015

    • Author(s)
      Yasuhisa Hirata
    • Organizer
      IEEE/RSJ IROS Workshop on Cognitive Mobility Assistance Robots: Scientific Advances and Perspectives
    • Place of Presentation
      ハンブルク,ドイツ
    • Year and Date
      2015-09-28
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Anomaly State Assessing of Human using Walker-type Support System Based on Statistical Analysis2015

    • Author(s)
      Yasuhisa Hirata, Hiroki Yamaya, Kazuhiro Kosuge, Atsushi Koujina, Tomohiro Shirakawa, Takahiro Katayama
    • Organizer
      The 2015 IEEE International Symposium on Robot and Human Interactive Communication
    • Place of Presentation
      神戸国際会議場,神戸,日本
    • Year and Date
      2015-09-01
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Motion Control of Human Assistive Robots with Servo Brakes2015

    • Author(s)
      Yasuhisa Hirata
    • Organizer
      France, German and Japan Joint Seminar on Human-Centric Robotics
    • Place of Presentation
      ミュンヘン,ドイツ
    • Year and Date
      2015-06-10
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Pedaling Assistive Control Method of Cycling Wheelchair for Hemiplegia Patients2015

    • Author(s)
      Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge
    • Organizer
      The 2015 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      シアトル,米国
    • Year and Date
      2015-05-29
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Pedaling Assistive Control Method of Cycling Wheelchair for Hemiplegia Patients2015

    • Author(s)
      Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      シアトル,米国
    • Year and Date
      2015-05-29
    • Related Report
      2014 Annual Research Report
  • [Presentation] Pose Estimation of Servo-Brake-Controlled Caster Units Arbitrarily Located on a Mobile Base2014

    • Author(s)
      Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      シカゴ,米国
    • Year and Date
      2014-09-16
    • Related Report
      2014 Annual Research Report
  • [Presentation] Walking Support by Wearable System based on the Spring-Mass Model2014

    • Author(s)
      Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge
    • Organizer
      IEEE/ASME International COnference on Advanced Intelligent Mechatronics
    • Place of Presentation
      ブサンソン,フランス
    • Year and Date
      2014-07-30
    • Related Report
      2014 Annual Research Report
  • [Presentation] Assistance Control Method for One-Leg Pedaling Motion of a Cycling Wheelchair2014

    • Author(s)
      Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      香港,中国
    • Year and Date
      2014-06-04
    • Related Report
      2014 Annual Research Report
  • [Presentation] Power Steering and Force Display Controls for a Cycling Wheelchair Using Servo Brakes2014

    • Author(s)
      Yasuhisa Hirata, Kazuhiro Kosuge, Eric Monacelli
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      香港,中国
    • Year and Date
      2014-06-02
    • Related Report
      2014 Annual Research Report
  • [Presentation] Regenerative Brake Control of Cycling Wheelchair with Passive Behavior2013

    • Author(s)
      Yasuhisa Hirata, Kota Kawamata, Kana Sasaki, Aya kaisumi, Kazuhiro Kosuge, Eric Monacelli
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      カールスルーエ,ドイツ(発表確定)
    • Year and Date
      2013-05-08
    • Related Report
      2012 Annual Research Report
  • [Presentation] Regenerative Brake Control of Cycling Wheelchair with Passive Behavior2013

    • Author(s)
      Yasuhisa Hirata, Kota Kawamata, Kana Sasaki, Aya Kaisumi, Kazuhiro Kosuge, Eric Monacelli
    • Organizer
      The 2013 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      カールスルーエ,ドイツ
    • Related Report
      2013 Annual Research Report
  • [Presentation] Steering Assist System for a Cycling Wheelchair Based on Braking Control2013

    • Author(s)
      Yasuhisa Hirata, Kazuhiro Kosuge, Eric Monacelli
    • Organizer
      The 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      東京
    • Related Report
      2013 Annual Research Report
  • [Presentation] Assistive Motion Control of Cycling Wheelchair Based on Investigation of Load on User2013

    • Author(s)
      Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge
    • Organizer
      The 2013 IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      神戸
    • Related Report
      2013 Annual Research Report
  • [Presentation] Wire-Type Human Support System Controlled by Servo Brakes2012

    • Author(s)
      Yasuhisa Hirata, Yuki Tozaki, Kazuhiro Kosuge
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      ファロ,ポルトガル
    • Year and Date
      2012-10-10
    • Related Report
      2012 Annual Research Report
  • [Book] 高齢者・アクティブシニアの 本音・ニーズの発掘と 製品開発の進め方2016

    • Author(s)
      平田泰久,他
    • Total Pages
      492
    • Publisher
      技術情報協会
    • Related Report
      2015 Annual Research Report
  • [Book] パワーアシスト・ロボットに関する材料,電子機器,制御と実用化,その最新技術2015

    • Author(s)
      平田泰久,他
    • Total Pages
      590
    • Publisher
      技術情報協会
    • Related Report
      2015 Annual Research Report
  • [Book] パワーアシスト・ロボットに関する材料,電子機器,制御と実用化,その最新技術2015

    • Author(s)
      平田泰久
    • Total Pages
      590
    • Publisher
      技術情報協会
    • Related Report
      2014 Annual Research Report

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Published: 2012-04-24   Modified: 2019-07-29  

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