Development and Control of Variable Impedance toward Embodiment of Assistive and Remotly Controlled Device

2017 Fiscal Year Final Research Report

• Project/Area Number: 15H05321
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Single-year Grants
• Research Field: Intelligent robotics
• Research Institution: Advanced Telecommunications Research Institute International
• Principal Investigator: Noda Tomoyuki 株式会社国際電気通信基礎技術研究所, 脳情報通信総合研究所, 主任研究員 (30588661)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 外骨格型ロボット / アクチュエータ / アシスト技術 / 可変インピーダンス / 生体信号 / 空電ハイブリッドアクチュエータ

Outline of Final Research Achievements

While anticipated a super aging society in Japan, intelligent robots are getting attention. Yet, industrial robots have never been realized a movement of human-muscle-like property in terms of intrinsic safe with compliant characteristics by hardware level. This property is deserved for assistive robot in rehabilitation robotics or for next-generation FAs. In this project, the researches underlying development of the actuator device, control of position, impedance, and force has been challenged. Learning control input based on various sensors were experimentally demonstrated on actual hardware platform. It is an important result not to pseudo control of conventional industrial robot with high impedance actuator/joint but to build fundamental technology of variable and low impedance actuator/joint to realize intrinsic safetiness.

Free Research Field

知能ロボティクス