Modeling of the characteristics of the human operator and control of power assist systems considering task direction and operator's posture
Project/Area Number |
26420208
|
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 | Tokai University |
Principal Investigator |
Inaba Takeshi 東海大学, 情報理工学部, 教授 (90242271)
|
Project Period (FY) |
2014-04-01 – 2017-03-31
|
Project Status |
Completed (Fiscal Year 2016)
|
Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2015: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2014: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
|
Keywords | パワーアシスト / 手先インピーダンス / 表面筋電位 / 粘性 / 操作性 / 作業姿勢 / 作業方向 |
Outline of Final Research Achievements |
This study is focusing on developing new design method of the control system for power assist systems considering operability. It is confirmed that the operator's hand impedance varies according to his posture and that the operability can be improved by adjusting the parameters of the system. Moreover, the iterative method for adjusting the parameters based on the surface electromyogram is developed and its effectiveness is verified.
|
Report
(4 results)
Research Products
(9 results)