| Project/Area Number |
25560283
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Rehabilitation science/Welfare engineering
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| Research Institution | Toyohashi University of Technology |
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Principal Investigator |
Terashima Kazuhiko 豊橋技術科学大学, 工学(系)研究科(研究院), 教授 (60159043)
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| Co-Investigator(Kenkyū-buntansha) |
SUZUKI Shigeyuki 名古屋大学, 医学系研究科(保健), 教授 (60179215)
南 哲人 豊橋技術科学大学, エレクトロニクス先端融合研究所, 准教授 (70415842)
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| Co-Investigator(Renkei-kenkyūsha) |
MINAMI Tetsuto 豊橋技術科学大学, エレクトロニクス先端融合研究所, 准教授 (70415842)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2014: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2013: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Keywords | リハビリ制御 / 免荷力制御 / 歩行支援 / 全方向移動 / 差動駆動操舵機構 / パワーアシスト / 歩行訓練 / 姿勢推定 / リハビリ / 吊り下げ式免荷歩行訓練支援装置 / カルマンフィルタ / ゼログラビティ / 免荷量制御 / 歩行訓練支援ロボット / 吊上げ式免荷装置 / リハビリテーション / 全方向移動歩行訓練 / テーラメイド歩行支援 / 最適免荷量 / 脚底荷重計測センサ / 免荷式 / 免荷力の最適制御 |
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| Outline of Final Research Achievements |
In this paper, omnidirectional mobile hoisting-type walking training system is proposed and built. Taylormade optimal walking robot with hoisting control and omnidirectional moving is developed. Constant control against floor repulsive force is realized using feedback control of hoisting force with load cell. Further omnidirectional walking training can be realized by differential drive and steering system(DDSS) developed by authour. Omnidirectional movements are exploited by DDSS and feedback of leg's movements using laser sensor.
This robot suggests that zero gravity walking is possible in the proposed control system. The usefulness of the proposed walking assist robot is demonstrated by several laboratory and hospital experiments.
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