| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2017: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2016: ¥390,000 (Direct Cost: ¥300,000、Indirect Cost: ¥90,000)
Fiscal Year 2015: ¥130,000 (Direct Cost: ¥100,000、Indirect Cost: ¥30,000)
Fiscal Year 2014: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
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| Outline of Final Research Achievements |
The objective of this study was to develop dynamical estimation technique of time-varying mechanical impedance only by using steering wheel angle and torque. The estimation technique which was constructed by using Kalman filter had been developed. As the result of evaluation experiments, the estimation error of mechanical impedance was about 10%. Moreover, as the result of experiments in which human steered quickly, the impedance, especially viscosity and stiffness, started to change at 250 ms before the steering wheel angle started to change. From these results, the possibility to estimate steering intentions by the mechanical impedance was shown.
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