2016 Fiscal Year Final Research Report
Development of flexible robot wear based on multilateral interpretation of human musculoskeletal system
| Project/Area Number |
15K12606
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Rehabilitation science/Welfare engineering
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| Research Institution | Waseda University |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Keywords | 福祉ロボット / 装着型ロボット / フレキシブルロボット |
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| Outline of Final Research Achievements |
The aim of this study was to establish a methodology for developing robots with high affinity with humans using flexible actuators mimicked human musculoskeletal system. We carried out the analysis of the musculoskeletal network structure and the development of actuators imitating it, and the optimization of the robot structure. With regard to the microstructure, we proposed a method of quantifying the muscle activity and its material change at muscle contraction / relaxation using a wearing type EMG sensor or a muscle hardness meter. Regarding the macroscopic structure, we developed a prototype of a robotic suit using flexible material for the purpose of supporting motion of the elbow joint and knee joint, and verified the actuator arrangement and control method capable of improving the body motion without hindering the active action of humans.
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| Free Research Field |
福祉ロボット
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