2001 Fiscal Year Final Research Report Summary
DEVELOPMENT OF THE AUTONOMOUS CONTROL AND POWER ASSIST COMPOUND TYPE EXOSKELTON SYSTEM HAL FOR WALKING AID
| Project/Area Number |
12555120
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
Control engineering
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| Research Institution | UNIVERSITY OF TSUKUBA |
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Principal Investigator |
SANKAI Yoshiyuki UNIVERSITY OF TSUKUBA, Inst.of Erfgineering Mechanics and Systems, Associate Professor, 機能工学系, 助教授 (30183833)
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| Co-Investigator(Kenkyū-buntansha) |
KYODO Yasumasa UNIVERSITY OF TSUKUBA, Inst.of Erfgineering Mechanics and Systems, Associate Professor, 機能工学系, 助教授 (80282341)
YASUNOBU Seiji UNIVERSITY OF TSUKUBA, Inst.of Erfgineering Mechanics and Systems, Professor, 機能工学系, 教授 (00241795)
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| Project Period (FY) |
2000 – 2001
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| Keywords | autonomous / power assist / power assist suit / walking aid / HAL / EMG / walking disorder / 歩行支援 |
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| Research Abstract |
This research has been performed to develop the autonomous control and power assist compound type exoskeleton robotic suit HAL for walking aid. According to the research plan, we obtained following research results. In the current, the powered suit HAL developed in this research project would be the most advanced system in the world.
We could develop the HAL system as the highly integrated mechanical system by lightening and making partial shell structure.
RT-Linux and small size high performance computer were adopted as the operation system to realize the real-time measurement and control with safety and reliability.
We developed and used the computer simulator to design the total system from the kinematical and mechanism-theoretical viewpoint.
We could confirm the effectiveness of the proposed and developed system HAL with parameter estimator and hybrid controller such as power assist controller, autonomous controller, EMG-based controller and predictive controller.
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[Publications] Kanehiro F., Miyata N, Kajita S, Fujiwara K, Hirukawa H, Nakamura Y, Yamane K, Kohara I, Kawamura Y, Sankai Y: "Virtual Humaneid Robot Platform to Develop Controllers of Real Humanoid Robots without Porting"Proc.of IEEE/RSJ, IROS. 1093-1098 (2001)
Description
「研究成果報告書概要(欧文)」より
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