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2007 Fiscal Year Final Research Report Summary

Study on Rehabilitation Arm and Hand by Antagonistic Actuator

Research Project

Project/Area Number 17360119
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTokyo Denki University

Principal Investigator

SATITO Yukio  Tokyo Denki University, School of Science and Engineering, Professor (50057238)

Co-Investigator(Kenkyū-buntansha) HANEYOSHI Toshimasa  Tokyo Denki University, School of Science and Engineering, Professor (90120120)
UMEMURA Atsushi  Tokyo Denki University, School of Science and Engineering, Instructor (90453795)
Project Period (FY) 2005 – 2007
KeywordsUpper arm of powered orthosis / Hand of powered orthosis / Bilateral servo / mechanism of imitating skeletal muscle / Bi-articular tvpe actuator / Actuator of antagonistic effect
Research Abstract

At first, we developed an actuator imitating industrially the effect of antagonistic muscle peculiar to animal in this research. Namely, we become possible following items by systematizing bilateral servo system (position and force control).
(a) Establishment of safety
(b) Establishment of operation
(c) Possibility of generation of strong output
We understood that (a)-(b) were effective to power assist for the handicapped from our research until now.
We carried out an experimental research to practical use for three years from 2005 to 2007.
(1) We designed and manufactured rehabilitation arm by way of trial for cervical damage able to operate himself. Especially, the arm became to support human arm movement by the development of mechanism imitating ulna and radius bone of forearm and the development of actuator imitating bi-articular.
(2) The rehabilitation of hand by cerebral disorder is a world problem as a functional recovery is very difficult. This is because the mechanism moving whole five fingers and the control (position and force control) are impossible. In this research, we have completed a design and a trial manufacture of powered orthosis of hand by introducing bilateral servo system.
(3) It becomes important to construct a motion program of arm and rehabilitation. We have completed fundamental database of software.

  • Research Products

    (31 results)

All 2007 2006 2005

All Journal Article (8 results) (of which Peer Reviewed: 5 results) Presentation (23 results)

  • [Journal Article] 人の筋構造を模倣したロボット用力伝達メカニズム2007

    • Author(s)
      斉藤 之男
    • Journal Title

      電気学会論文誌 125

      Pages: 297-300

    • Description
      「研究成果報告書概要(和文)」より
    • Peer Reviewed
  • [Journal Article] 福祉機器開発の現状と展望2007

    • Author(s)
      斉藤 之男
    • Journal Title

      精密工学会誌 38

      Pages: 21-25

    • Description
      「研究成果報告書概要(和文)」より
    • Peer Reviewed
  • [Journal Article] バイラテラル油圧伝達機構を用いたリハビリテーションアーム2007

    • Author(s)
      斉藤 之男
    • Journal Title

      フルードパワーシステム 38

      Pages: 21-25

    • Description
      「研究成果報告書概要(和文)」より
    • Peer Reviewed
  • [Journal Article] Robotic Powered Transfer Mechanism Modeling On Human Muscle Structure2007

    • Author(s)
      Yukio, Saito
    • Journal Title

      Transactions on Electronics, Information and Systems Vol. 125, No. 6

      Pages: 840-845

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Current and Perspective Technology Supporting Welfare2007

    • Author(s)
      Yukio, Saito
    • Journal Title

      Journal of the Society for Precision Engineering Vol. 73, No. 3

      Pages: 297-300

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] Rehabilitation Arm Using Hydraulic Bilateral Force Transfer Mechanisms2007

    • Author(s)
      Yukio, Saito
    • Journal Title

      The Japan Fluid Power System Society Vol. 38, No. 4

      Pages: 179-183

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] 頚椎損傷者用腕のトレーニングシステムの評価に関する研究2006

    • Author(s)
      上林 勇輝, 斉藤 之男, 矢野 宏, 大西 謙吾
    • Journal Title

      品質工学 14

      Pages: 69-95

    • Description
      「研究成果報告書概要(和文)」より
    • Peer Reviewed
  • [Journal Article] 運動機能のジョイスティックによる機能性評価2005

    • Author(s)
      斉藤 之男, 宇留嶋 有史, 矢野 宏
    • Journal Title

      品質工学 13

      Pages: 101-104

    • Description
      「研究成果報告書概要(和文)」より
    • Peer Reviewed
  • [Presentation] Research o n Intelligent Motorized Prosthetic Hand by Functional Analysis of Human Hand at Near Future (Part II)2007

    • Author(s)
      Yukio, Saito, Takanori, Higashihara, Kengo, Ohnishi
    • Organizer
      The 5th COE Workshop on Human Adaptive Mechatronics (HAM)(Proceedings)
    • Place of Presentation
      Tokyo Denki University(Saitma, Japan)
    • Year and Date
      20071116-17
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Actuator Robotics with Learning Control of Multi-motor System2007

    • Author(s)
      Atushi, Umemura, Toshimasa, Haneyoshi, Yukio, Saito
    • Organizer
      The 33th Annual Conference of the IEEE Industrial Electronics Society (IECON07), Proceedings
    • Place of Presentation
      Micropolis Congress Hall,(Besanson, France)
    • Year and Date
      20071105-08
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Study on Grasping Motion of 8 DOF Robot Arm with Visual Servo System2007

    • Author(s)
      Y. Saito, O. Tsunoda, K. Adachi, K. Ohnishi
    • Organizer
      12th IFToMM World Congress in Mechanism and Mechine Science
    • Place of Presentation
      Micropolis Congress Hall(Besanson,France)
    • Year and Date
      20070617-21
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Development of Miniaturized Testing Machine of Displacement and Pressre for Biomaterial Evaluation2007

    • Author(s)
      Teruo Asaoka, Yukio Saito, Fujio Miyawaki
    • Organizer
      12th IFToMM world Congress in mechanism and machine science
    • Place of Presentation
      Micropolis Congress Hall(Besanson,France)
    • Year and Date
      20070617-21
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Study on Grasping Motion of 8 DOF Robot Arm with Visual Servo System2007

    • Author(s)
      Y., Saito, O., Tsunoda, K., Adachi, K., Ohnishi
    • Organizer
      12th IFToMM World Congress in Mechanism and Machine Science(Proceedings)
    • Place of Presentation
      Besanson, France
    • Year and Date
      20070617-21
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Development of Miniaturized Testing Machine of Displacement and Pressre for Biomaterial Evaluation2007

    • Author(s)
      Teruo, Asaoka, Yukio, Saito, Fujio, Miyawaki
    • Organizer
      12th IFToMM World Congress in Mechanism and Machine Science(Proceedings)
    • Place of Presentation
      Besanson, France
    • Year and Date
      20070617-21
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Research on Intelligent Motorized Prosthetic Hand. by Functional Analysis of Human Hand2007

    • Author(s)
      Yukio, Saito, Hiroshi, Negoto, Harumi, Kobayashi
    • Organizer
      The 4th COE Workshop on Human Adaptive Mechatronics (HAM), Proceedings
    • Place of Presentation
      Tokyo Denki University(Saitama, Japan)
    • Year and Date
      20070502-03
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Research on Intelligent Motorized Prosthetic Hand by Functional Analysis of Human Hand2007

    • Author(s)
      Yukio Saito, Hiroshi Negoto, Harumi Kobayashi
    • Organizer
      The 4th COE Workshop on Human Adaptive Mechatronics(HAM)
    • Place of Presentation
      Tokyo Denki University(Saitma,Japan)
    • Year and Date
      20070302-03
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Research on Intelligent Motorized Prosthetic Hand by Functional Analysis of Human Hand at Near Future(Part II)2007

    • Author(s)
      Yukio Saito, Takanori Higashihara, Kengo Ohnishi
    • Organizer
      The 5th COE Workshop on Human Adaptive Mechatronics(HAM)
    • Place of Presentation
      Tokyo Denki University(Saitma,Japan)
    • Year and Date
      2007-11-17
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Actuator Robotics with Learning Control of Multi-motor System2007

    • Author(s)
      Atushi Umemura, Toshimasa Haneyoshi, Yukio Saito
    • Organizer
      The 33rd Annual Conference of the IEEE Industrial Electoronics Society(IECON07)
    • Place of Presentation
      Grand Hotel(Taipei,Taiwan)
    • Year and Date
      2007-11-05
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] 人の機能を模倣したアクチュエータとロボットへの応用2007

    • Author(s)
      斉藤 之男
    • Organizer
      電気学会東京支部埼玉支部研究発表会第10回記念大会
    • Place of Presentation
      埼玉大学(埼玉,日本)
    • Year and Date
      2007-09-21
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Application to Actuator and Upper Limb Powered Orthosis imitated Human Functional Motion2007

    • Author(s)
      Yukio, Saito
    • Organizer
      Proceeding of Transactions on Electronics, Information and Systems, No.10, Commemorative meeting
    • Place of Presentation
      Saitama University
    • Year and Date
      2007-09-21
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] The Actuator for Robotics with Leaning Control of Antagonism Multi-Motor System2007

    • Author(s)
      Atsusi, Umemura, Toshimasa, Haneyoshi, Yukio, Saito, Kouichi, Minai
    • Organizer
      13th, Symposium on Theory of Machins and Mechanisms
    • Place of Presentation
      Tokyo Institute Technology
    • Year and Date
      2007-07-12
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] 拮抗駆動ロボットのための学習制御2007

    • Author(s)
      梅村 敦史、羽根吉 寿正、斉藤 之男、薬袋 浩一
    • Organizer
      日本IFToMM会議シンポジウム(第13回)
    • Place of Presentation
      日本工業大学(東京都、日本)
    • Year and Date
      2007-06-30
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Learnillg Point-to-Point Control using Multi-motor Drive System2006

    • Author(s)
      A. Umemura, T. Haneyoshi, Y. Saito
    • Organizer
      Second International Symposium on Mechatronics(ASIM2006)
    • Place of Presentation
      City University of Hongkong(Hong-Kong,China)
    • Year and Date
      2006-12-12
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] リハビリテーションアーム及び下肢動力装具の研究2006

    • Author(s)
      鉢村 瞬、斉藤 之男、羽根吉 寿正、音琴 浩
    • Organizer
      日本IFToMM会議シンポジウム(第12回)
    • Place of Presentation
      東京工業大学(東京、日本)
    • Year and Date
      2006-06-30
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] バイラテラルサーボの基礎実験とパワーウィンドウへの応用研究2006

    • Author(s)
      小泉 真吾、斉藤 之男、田島 孝光、大川 司
    • Organizer
      日本IFToMM会議シンポジウム(第12回)
    • Place of Presentation
      東京工業大学(東京、日本)
    • Year and Date
      2006-06-30
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] A Study of Learning Vibration Control in the Multi-motor Drive System2006

    • Author(s)
      A. Umemura, T. Haneyoshi, Y. Saito
    • Organizer
      10th International Conference on New Actuator(Actuator2006)
    • Place of Presentation
      Messe Bremen(Bremen,Germany)
    • Year and Date
      2006-06-14
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Study on Designing a Biped Robot with Bi-articular Muscles type Bilateral Servo Systems2005

    • Author(s)
      Takeshi Matsuoka, Yukio Saito, Airoshi Negoto
    • Organizer
      6th JFPS International Symposium on Fluid Power
    • Place of Presentation
      HPOCHAL TSUKUBA(lbaragi,Japan)
    • Year and Date
      20051107-10
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Study of Robot with the Ability to Detect Land Mine using Pneumatic Bilateral Servo System2005

    • Author(s)
      Kiyomi Takei, Yukio Saito, Shingo Koizumi, Hiroshi Negoto
    • Organizer
      6th JFPS International Symposium on Fluid Power
    • Place of Presentation
      HPOCHAL TSUKUBA(lbaragi,Japan)
    • Year and Date
      20051107-10
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Robot Manipulator lmitated on Antagonistic Muscles using Multi-motor Drives2005

    • Author(s)
      T. Haneyoshi, A. Umemura, Y. Saito
    • Organizer
      3rd COE Workshop onHuman Adaptive Mechatronics(HAM)
    • Place of Presentation
      Tokyo Denki University(Saitama,Japan)
    • Year and Date
      2005-12-20
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Robot Arm Imitated Mechanism of Bi-articular Muscles using Antagonism Multi-motor Drives2005

    • Author(s)
      A. Umemura, T. Haneyoshi, Yukio Saito
    • Organizer
      14th IEEE International Workshop on Robot and Human Interactive Communication
    • Place of Presentation
      Mariot at Vanderbilt(Nashibil,USA)
    • Year and Date
      2005-08-15
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] A Study of Vibration Control by Multi-motor System2005

    • Author(s)
      A. Umemura, T. Haneyoshi, Y. Saito
    • Organizer
      International Power Electronics Conference(IPEC)
    • Place of Presentation
      Toki Messe(Niigata,Japan)
    • Year and Date
      2005-04-08
    • Description
      「研究成果報告書概要(和文)」より

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Published: 2010-02-04  

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