2017 Fiscal Year Final Research Report
Learning system of wearable robot for cooperative gait assistance with user
| Project/Area Number |
15K05894
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Aichi Institute of Technology (2017)
Nagoya University (2015-2016) |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
宇野 洋二 名古屋大学, 工学研究科, 教授 (10203572)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Keywords | 装着型ロボット / 学習制御 |
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| Outline of Final Research Achievements |
In this study, we developed an on-line learning system of gait pattern for a wearable robot to assist walking. A cost function of our learning system was defined by the sum of the measured arm loading force of a user and the power consumption of the motors during walking. Via-points of the joint trajectories were optimized so as to reduce the cost function by Newton-like method. We propose an on-line learning algorithm of the via-point parameters by RLS algorithm which achieves less number of iteration than a conventional method. We confirmed that the arm loading force of a user decreased while walking with a wearable robot with little change of power consumption by using the proposed algorithm.
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| Free Research Field |
メカトロニクス・ロボット制御
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