Impedance Control for Multi-joint Wearable Assist Robots using Flexible Tactile Sensors
| Project/Area Number |
26870274
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
Rehabilitation science/Welfare engineering
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| Research Institution | Nagoya University |
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Principal Investigator |
FUNABORA Yuki 名古屋大学, 工学(系)研究科(研究院), 助教 (20633548)
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| Research Collaborator |
DOKI Shinji
DOKI Kae
SONG Hyungeun
UCHIYAMA Naoya
HAN Tianshi
SATO Asuka
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| Project Period (FY) |
2014-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2015: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | アシストロボット / インピーダンス制御 / 面状圧力センサ / 多関節装着型ロボット / 装着型アシストロボット |
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| Outline of Final Research Achievements |
In order to achieve safe assist for complex body part (body trunk), a structure determination method and novel impedance control systems have been researched. Basic structure of an assist robot (especially number of joint and link pattern) is determined through matching link pattern candidates with shape data of complex body part collected in human movements. Two novel impedance control systems based on physical contact forces measured by tactile sensors are proposed; one is tractable system using pseudo torque based on conventional torque base impedance control system, the other is advanced system based on inverse kinematics model of the robot to control all joints synchronously. By using these control systems, local contact forces with high magnitude occurred between user and robot can be reduced significantly. This research can realize safer assist system even for a complex body part.
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Report
(3 results)
Research Products
(8 results)
