Estimation of the human motion without using biologically measured signals and its application to the control of the wearable power assist suit

• Project/Area Number: 26420200
• 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: Yamaguchi University
• Principal Investigator: FUJII Fumitake 山口大学, 大学院創成科学研究科, 准教授 (30274179)
• Project Period (FY): 2014-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2014: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: 外骨格型パワーアシストスーツ / 負荷推定器 / ロジスティック識別器 / 適応スライディングモード制御 / MCSモデル規範適応制御 / カルマンフィルタ / パワーアシストスーツ / ロジスティック回帰 / stoop technique / squat technique / MCS適応制御系 / McKibben人工筋肉 / wearable robot / McKibben 人工筋肉 / 皮膚表面筋電位 / 関節角加速度 / モデル同定 / ２自由度制御系 / マッキベンアクチュエータの動特性モデル / 加速度推定 / 適応制御システム / 外乱オブザーバー

Outline of Final Research Achievements

The current study focuses on the control system designs for the powered exoskeleton which does not use the biologically measured signal. We have synthesized two different control systems. One concentrates on the in-phase tracking to human body motion and the other tries to provide sufficient force/torque to the user of the exoskeleton. The former uses the adaptive Kalman filter to estimate angular acceleration of the joints supported by the exoskeleton under the existence of the model uncertainty and the sensor offset, and the adaptive sliding mode controller has been implemented for the control of the actuator to achieve in-phase tracking to human motion. The second one includes the development of load estimator which utilizes the quantitative difference of the body usage which depends on the amount of load. The MCS adaptive controller will follow to provide the sufficient force/torque support to the user. Experimental results show the validity of the proposed control system.

Research Products

• [Int'l Joint Research] University of Bristol(United Kingdom)
• [Journal Article] A minimal controller synthesis for the control of McKibben pneumatic actuator used in the powered exoskeleton (2016)
  • Author(s): Fumitake Fujii, Chuan Liu and David P. Stoten
  • Journal Title: Proc. 2016 International Conference on Innovative Application Research and Education Volume: １ Pages: 41-46
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] A controller system design for pneumatic-powered motion assist device using a load observer (2015)
  • Author(s): 村田宏嘉，岡田拓也，山平翔太，原田亮平，藤井文武
  • Journal Title: Transactions of the JSME (in Japanese) Volume: 81 Issue: 824 Pages: 14-00579-14-00579
  • DOI: 10.1299/transjsme.14-00579
  • NAID: 130005066580
  • ISSN: 2187-9761
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Presentation] ウェアラブルリフタのための関節機構の開発 (2017)
  • Author(s): 地頭所久雄，藤井文武，原田亮平
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2017
  • Place of Presentation: ビッグパレットふくしま（福島県・郡山市）
  • Year and Date: 2017-05-11
• [Presentation] 関節角加速度駆動型外骨格アシストスーツのための関節機構の開発 (2017)
  • Author(s): 原田亮平，藤井文武
  • Organizer: 日本機械学会 中国四国支部 第55期 総会・講演会
  • Place of Presentation: 広島工業大学（広島県・広島市）
  • Year and Date: 2017-03-07
• [Presentation] Contraction length control of the McKibben ArtificialMuscle with Minimal Controller Synthesis adaptive controller (2017)
  • Author(s): Chuan Liu and Fumitake Fujii
  • Organizer: 日本機械学会 中国四国支部 第55期 総会・講演会
  • Place of Presentation: 広島工業大学（広島県・広島市）
  • Year and Date: 2017-03-07
• [Presentation] A reference augmentation design for the adaptive control of a wearable assist robot powered by the McKibben actuator (2017)
  • Author(s): Hisao Jitosho and Fumitake Fujii
  • Organizer: 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
  • Int'l Joint Research
• [Presentation] ウェアラブルリフタのための関節機構の開発 (2017)
  • Author(s): 原田亮平，藤井文武，地頭所久雄
  • Organizer: 2017日本機械学会ロボティクス・メカトロニクス部門講演会
• [Presentation] A minimal controller synthesis for the control of McKibben pneumatic actuator used in the powered exoskeleton (2016)
  • Author(s): Fumitake Fujii, Chuan Liu and D. P. Stoten
  • Organizer: International Conference on Innovative Application Research and Education
  • Place of Presentation: Cheongju, Korea
  • Year and Date: 2016-12-23
  • Int'l Joint Research
• [Presentation] 関節運動角加速度と皮膚表面筋電位の関係のモデル化に関する検討 (2016)
  • Author(s): 岡田拓也，藤井文武
  • Organizer: 第２１回ロボティクスシンポジア
  • Place of Presentation: 長崎温泉やすらぎ伊王島（長崎県長崎市）
  • Year and Date: 2016-03-17
• [Presentation] 表面筋電位と関節角加速度の関係性の解析 (2016)
  • Author(s): 岡田拓也，藤井文武
  • Organizer: 日本機械学会中国四国支部 第５４期総会・講演会
  • Place of Presentation: 愛媛大学工学部（愛媛県松山市）
  • Year and Date: 2016-03-09
• [Presentation] マッキベン型アクチュエータを用いた関節アシストシステムの制御系の構成 (2014)
  • Author(s): 村田宏嘉，岡田拓也，藤井文武
  • Organizer: 日本機械学会2014年度年次大会
  • Place of Presentation: 東京電機大学東京千住キャンパス
  • Year and Date: 2014-09-07 – 2014-09-10
• [Presentation] Use of Angular Acceleration and Velocity Estimates for Control of Pneumatic-Powered Wearable Motion Assist Device (2014)
  • Author(s): Fumitake Fujii, Yuta Hirose, Hiroyoshi Murata and Takuya Okada
  • Organizer: IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2014
  • Place of Presentation: Edinburgh, Scotland, UK
  • Year and Date: 2014-08-25 – 2014-08-29
• [Remarks] アシストスーツ装着状態での負荷持ち上げ実験のビデオ
  • URL: http://ctrl.mech.yamaguchi-u.ac.jp/