2006 Fiscal Year Final Research Report Summary
A study for modeling of human's stabilizing action with perceptive feedback
| Project/Area Number |
16500364
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Rehabilitation science/Welfare engineering
|
|---|
| Research Institution | Tokyo University of Technology |
|---|
Principal Investigator |
OHYAMA Yasuhiro Tokyo University of Technology, School of Bionics, Professor, バイオニクス学部, 教授 (00233289)
|
|---|
| Co-Investigator(Kenkyū-buntansha) |
HASHIMOTO Hiroshi Tokyo University of Technology, School of Bionics, Associate Professor, バイオニクス学部, 助教授 (60208460)
SHINOHARA Kazuhiko Tokyo University of Technology, School of Bionics, Professor, バイオニクス学部, 教授 (00327082)
SHE Jin-Hua Tokyo University of Technology, School of Bionics, Associate Professor, バイオニクス学部, 助教授 (10257264)
YOKOTA Sho Tokyo University of Technology, School of Bionics, Assistant Professor, バイオニクス学部, 助手 (40434386)
KOBAYASHI Hiroyuki Osaka Institute of Technology, Dept.of Engineering, Associate Professor, 工学部, 助教授 (80338219)
|
|---|
| Project Period (FY) |
2004 – 2006
|
| Keywords | Man-Machine System / Manual Control System / Assistance of the elderly / Rehabilitation / Training / Transfer function of human action / Performance Educer |
|---|
| Research Abstract |
This paper describes the analysis of the human's dynamic model as a system controller.
The properties of a human as controller of mechanical system has been studied and modeled in certain environments under given constraints. However, it is not yet clear enough whether these properties remain for situated human as a stabilizing controller for some unstable system in more practical physical state. In this study, an inverted pendulum game to reveal the human's stabilizing controller aspect is employed.
The results of this study are as follows.
1. A simulated inverted pendulum as target plant to be controlled is used to investigate human's dynamics as a controller. The transfer function to stabilize an unstable system was derived and it was shown that human's control skill, good or not, could be judged by using this model.
2. A system to modify transfer characteristics of human in manual controlled system by displaying false image of plant whose dynamics is intentionally distorted from the real to enhance performance was proposed. The experimental result shows that tested persons provide higher performance than usual. This system is called "performance educer" and will be extend to a type of training system.
3. A three-wheeled electric cart has been already developed for not only a transportation device but also a way of getting driver's some physical exercise. Based on an investigation of the physiological decline accompanying angle, pedaling was chosen to implement the function of maintaining or improving physical strength; and an ergonomically designed pedal unit was mounted on a cart. A three type of human's driving model, such as strenuous one, neutral one and assisted one, is defined and a bilateral master-slave control system with using these models was designed and built. Experimental results on a fabricated cart demonstrate the effectiveness of pedaling.
|
