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2002 Fiscal Year Final Research Report Summary

Dynamics Analysis and Design for Transfer Support

Research Project

Project/Area Number 12650239
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionKochi University of Technology

Principal Investigator

INOUE Yoshio  Kochi University of Technology, Engineering, Professor, 工学部, 教授 (50299369)

Co-Investigator(Kenkyū-buntansha) TAKASAKA Yoichiro  Hoshoki Unity Hospital, President, 院長
TANIOKA Tetsuya  Kochi University of Technology, Medical, Associate Professor, 医学部, 助教授 (90319997)
KAI Yoshihiro  Kochi University of Technology, Engineering, Research Associate, 工学部, 助手 (00320119)
Project Period (FY) 2000 – 2002
KeywordsHuman Dynamics / Interaction between Human and Machine / Transfer Support / Multi-body system / Compliance Control / Plantar Pressure / Reaction Force and Moment / Intelligent Sensor
Research Abstract

At first, to analyze physical interaction between human and support system or between patient and caregiver we carried out an experiment of transfer support from bed to floor. By using 3-dimensional motion analysis system and force plate, motion of caregiver and patient were measured. We estimated force and moment applied to the back of the caregiver from the measured data.
As a fundamental technology for designing support system, it is very important to grasp interaction between human and machine. Then, we developed an estimation method of reaction force the floor applied to human foot and moment of ankle joint moment by using plantar pressure measurement device. In the process of the signal processing, curve fitting technique was applied for estimating the reaction force and the ankle joint moment.
Next, we applied compliance control method to support system. It can be seen that we can design a soft support system by using this method.

  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] 松田拓也, 甲斐義弘, 井上喜雄ほか: "足底圧計測装置による足関節モーメントの推定(規制・負荷歩行における推定)"日本機械学会中国四国支部第41回総会講演会論文集. 035-1. 401-402 (2003)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 森井康友, 井上喜雄, 甲斐義弘 ほか: "単眼視動作計測装置による簡易3次元歩行計測"日本機械学会中国四国支部第41回総会講演会論文集. 035-1. 397-398 (2003)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Kai.y., Tanioka, T., Inoue, Y.et al.: "Prevention of a patient's falling by using a sensor controlled ambulation support machine"Proceedinngs of ACMD'02. 86-96 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 甲斐義弘, 井上喜雄, 松田拓也ほか: "患者の転倒時の下肢の筋張力に基づく電動歩行支援機の制御方法の検討"日本機械学会第2回福祉工学シンポジウム講演論文集. 02-34. 155-158 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 甲斐義弘, 井上喜雄, 田能寿孝ほか: "吊り上げ装置付き電動歩行支援機の開発(吊り上げ装置の制御方法の検討)"日本機械学会第2回福祉工学シンポジウム講演論文集. 02-34. 159-162 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 甲斐義弘, 井上喜雄: "作業の方向を考慮したロボットマニピュレータの動的精度"日本機械学会論文集C編. 67-663. 3548-3553 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Matsuda, T., Kai, Y., Inoue, Y.et.al.: "A study of Joint Moment Presumption by Plantar Pressure Measurement Device"Proc. Of JSME. No.035-1. 401-402 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Morii, Y., Inoue, Y., et.al.: "Simple 3-dimensional Walking Measurement by Monocular Motion measurement System"Proc. Of JSME. No.035-1. 397-398 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kai, Y.Tanioka, T., Inoue, Y., et.al.: "Prevention of a Patient Falling by Using a Senor Controlled Ambulation Support Machine"Proc. Of ACMD'02. 86-96 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kai, Y., Inoue, Y., et.al.: "A Study of Control Methods of a Senor-Controlled Walking Support Machine on the Basis Of Leg-Muscular Tensions During a Patient's Falling"Proc. Of the 2^<nd> JSME Symposium on Welfare Engineering. 155-159 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kai, Y., Inoue, Y., et.al.: "Development of a sensor-Controlled Walking Support Machine with a Lifting Device"Proc. Of the 2^<nd> JSME Symposium on Welfare Engineering. 159-163 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kai, Y., Inoue, Y.: "Dynamic Accuracy Index of Manipulators Considering Task-Directions"Trans.JSME. 61-0195C. 178-183 (2001)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2004-04-14  

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