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2008 Fiscal Year Final Research Report

Study on the Design of Electric Cart Control System for Maintaining/Improving Motor Functions of the Elderly

Research Project

  • PDF
Project/Area Number 18560259
Research Category

Grant-in-Aid for Scientific Research (C)

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

Principal Investigator

SHE Jin-hua  Tokyo University of Technology, コンピュータサイエンス学部, 准教授 (10257264)

Co-Investigator(Kenkyū-buntansha) HIROSHI Hashimoto  産業技術大学院大学, 創造技術専攻, 教授 (60208460)
Project Period (FY) 2006 – 2008
Keywords電動車制御 / 高齢者 / 最適負荷 / 安全性
Research Abstract

本研究は, 高齢者が楽しく行動すると共に自然に運動能力が維持・増進できることを目指し, トレーニング機能を備えた電動車の制御システムを設計することを目的に進めてきた.主に, 人間操作感覚のモデル化, 日本人高齢者の特徴を加味した最大ペダリング負荷の決定法, およびこれらに基づく負荷オートチューリング手法の開発, 路面摩擦などの影響に対する安全確保のための等価入力外乱手法の提案, 高性能電動車制御システムを目指すためのロバスト制御理論の開発などの面において, 様々な研究成果が得られた.

  • Research Products

    (33 results)

All 2009 2008 2007 2006 Other

All Journal Article (8 results) (of which Peer Reviewed: 8 results) Presentation (13 results) Book (3 results) Remarks (9 results)

  • [Journal Article] ペダリング負荷選定法と電動カートペダル負荷無段調整システムの設計2009

    • Author(s)
      余錦華, 石井将太, 横田祥, 佐久間裕司, 大山恭弘
    • Journal Title

      電気学会論文誌 D, Vol.129

      Pages: 519-525

    • Peer Reviewed
  • [Journal Article] Active Structural Control Based on the Concept of Equivalent-Input-Disturbance2009

    • Author(s)
      Ming-Xing Fang, Min Wu, and She Jin-Hua
    • Journal Title

      International Journal of Factory Automation, Robotics and Soft Computing Vol.1

      Pages: 11-16

    • Peer Reviewed
  • [Journal Article] Output Feedback Stabilization for Discrete-Time Systems with A Time-Varying Delay2008

    • Author(s)
      Yong He, Min Wu, Guo-Ping Liu, and Jin-Hua She
    • Journal Title

      IEEE Transactions on Automatic Control Vol.53

      Pages: 2372-2377

    • Peer Reviewed
  • [Journal Article] Improving Disturbance Rejection Performance Based on an Equivalent-Input-Disturbance Approach2008

    • Author(s)
      Jin-Hua She, Mingxing Fang, Yasuhiro Ohyama, Hiroshi Hashimoto, and Min Wu
    • Journal Title

      IEEE Transactions on Industrial Electronics Vol.55

      Pages: 380-389

    • Peer Reviewed
  • [Journal Article] Estimation of Equivalent Input Disturbance Improves Vehicular Steering Control2007

    • Author(s)
      Jin-Hua She, Xin Xin, and Yasuhiro Ohyama
    • Journal Title

      IEEE Transactions on Vehicular Technology Vol.56

      Pages: 3722-3731

    • Peer Reviewed
  • [Journal Article] A Fast LDL-factorization Approach for Large Sparse Positive Definite System and Its Application to One-to-one Marketing2007

    • Author(s)
      Min Wu, Bei He and Jin-Hua She
    • Journal Title

      Optimization Computation, International Journal of Automation and Computing Vol.4

      Pages: 88-94

    • Peer Reviewed
  • [Journal Article] Master-Slave Electric Cart Control System for Maintaining/Improving Physical Strength2006

    • Author(s)
      Jin-Hua She, Yasuhiro Ohyama and Hiroyuki Kobayashi
    • Journal Title

      IEEE Transactions on Robotics Vol.22

      Pages: 481-490

    • Peer Reviewed
  • [Journal Article] Delay-dependent stabilization for systems with multiple unknown time-varying delays2006

    • Author(s)
      Min Wu, Yong He and Jin-Hua She
    • Journal Title

      International Journal of Control, Automation, and Systems Vol.4

      Pages: 682-688

    • Peer Reviewed
  • [Presentation] Equivalent-Input-Disturbance-Based High-Precision Positioning Control of Dual-Stage Feed Drive2009

    • Author(s)
      Jin-Hua She, Sayaka Hashimoto, Tomio Yamaura, and Min Wu
    • Organizer
      The 2009 IEEE International Conference on Networking, Sensing and Control (IEEE ICNSC'09)(398-403)
    • Year and Date
      20090000
  • [Presentation] Structural Active Control Based on the Concept of Equivalent-Input-Disturbance Considering Actuator Saturation2009

    • Author(s)
      Ming-Xing Fang, Min Wu, and Jin-Hua She
    • Organizer
      The 2009 International Conference on Measuring Technology and Mechatronics Automation (ICMTMA2009)(882-885)
    • Year and Date
      20090000
  • [Presentation] High-Precision Speed Control Based on the Compensation of Equivalent Input Disturbance2008

    • Author(s)
      Mingxing Fang, Min Wu, and Jin-Hua She
    • Organizer
      The 27th Chinese Control Conference(700-704)
    • Year and Date
      20080000
  • [Presentation] The Electric Wheelchair Controlled by Human Body Motion-Design of the Prototype and Basic Experiment2008

    • Author(s)
      Sho Yokota, Yasuhiro Ohyama, Hiroshi Hashimoto, and Jin-Hua She
    • Organizer
      The 17 International Symposium on Robot and Human Interactive Communication (IEEE RO-MAN 2008)(303-308)
    • Year and Date
      20080000
  • [Presentation] Electric Cart Control System for Adjustable Pedal Load Using Dynamic-Parallel-Distributed-Compensatio n Method(937-941)2007

    • Author(s)
      Jin-Hua She, Shota Ishii, Yuji Sakuma, Sho Yokota, Yasuhiro Ohyama, and Hiroshi Hashimoto
    • Organizer
      IEEE International Conference on Systems, Man and Cybernetics
    • Year and Date
      20070000
  • [Presentation] Equivalent-Input-Disturbance Method Improves Disturbance Rejection Performance : The MIMO Case2007

    • Author(s)
      Jin-Hua She, Xin Xin
    • Organizer
      The 26th Chinese Control Conference (CCC2007)(642-647)
    • Year and Date
      20070000
  • [Presentation] Comfortable Life Space for Elderly-using supporting systems based on technology-2007

    • Author(s)
      Hiroshi Hashimoto, Toshio Matsunaga, Toshinori Tsuboi, Yasuhiro Ohyama, Jin-Hua She, Naoki Amano, Sho Yokota, and Hiroyuki Kobayashi
    • Organizer
      The International Conference on Instrumentation, Control and Information Technology (SICE2007)(3037-3042)
    • Year and Date
      20070000
  • [Presentation] Further Results on Robust Stability/Stabilization of Uncertain Linear Delayed Systems2007

    • Author(s)
      Xianming Zhang, Min Wu, Jin-Hua She, and Yong He
    • Organizer
      The 26th Chinese Control Conference (CCC2007)(84-88)
    • Year and Date
      20070000
  • [Presentation] Analysis and Design of Control System with Equivalent-Input-Disturbance Estimation2006

    • Author(s)
      Jin-Hua She, Xin Xin, and Tomio Yamaura
    • Organizer
      The 2006 IEEE International Conference on Control Applications(1463-1469)
    • Year and Date
      20060000
  • [Presentation] Support Apparatuses Based on Technology for Active Life of Elderly2006

    • Author(s)
      Hiroshi Hashimoto, Yasuhiro Ohyama, Naoki Amano, Toshio, Matsunaga, Toshinori Tsuboi, Jin-Hua She, and Hiroyuki Kobayashi
    • Organizer
      The 32nd Annual Conference of the IEEE Industrial Electronics Society (IECON-2006)(4504-4509)
    • Year and Date
      20060000
  • [Presentation] Development of Support Apparatuses for Elderly to Keep Vital Life2006

    • Author(s)
      Hiroshi Hashimoto, Yasuhiro Ohyama, Jin-Hue She, Toshio Tsuboi, Toshio Matsunaga, Naoki Amano, Hiroyuki Kobayashi
    • Organizer
      SICE-ICCAS International Joint Conference(1500-1503)
    • Year and Date
      20060000
  • [Presentation] Manipulation of Human Behavior by Distorted Dynamics Vision2006

    • Author(s)
      Hiroyuki Kobayashi, Yasuhiro Ohyama, Hiroshi Hashimoto, and Jin-Hua She
    • Organizer
      SICE-ICCAS International Joint Conference 2006(4446-4450)
    • Year and Date
      20060000
  • [Presentation] A Study on Compensator to Educe Potential Human Skill2006

    • Author(s)
      Hiroyuki Kobayashi, Mitsunori Hosaka, Yasuhiro Ohyama, Hiroshi Hashimoto and Jin-Hua She
    • Organizer
      IASTED International Conference on Modelling, Identification and Control (MIC2006)(473-477)
    • Year and Date
      20060000
  • [Book] Active Structural Control Based on the Concept of Equivalent-Input-Disturbance(Salvatore Pennacchio Ed.)2009

    • Author(s)
      Ming-Xing Fang, Min Wu, and Jin-Hua She
    • Total Pages
      84-89
    • Publisher
      Control Systems, Robotics and Automation
  • [Book] Proceedings of the Sixth China-Japan International Workshop on Internet Technology and Control Applications2007

    • Author(s)
      Jie Chen, Zhi-Hong Peng, Jin-Hua She, and Min Wu Ed.
    • Total Pages
      1-140
    • Publisher
      Beijing Institute of Technology Press
  • [Book] Proceedings of the 7th Asia-Pacific Conference on Control & Measurement (APCCM2006). (Chunlin Shen Ed.)(Design of Electric Cart with Function of Maintaining/ Improving the Physical Strength of the Elderly, (ISBN7-80183-737-1))2006

    • Author(s)
      Jin-Hua She and Yasuhiro Ohyama
    • Total Pages
      205-211
    • Publisher
      China Aviation Industry Press
  • [Remarks] 松永俊雄, 坪井利憲, 河西宏之, 上田裕巳, 橋本洋志, 三田地成幸, 大山恭弘, 余錦華, 天野直紀 : 高齢者快適生活ネットワーク空間創成技術に関する研究, 東京工科大学研究報告, No. 3, pp. 65-75, 2008(ISSN 1880-5752)

  • [Remarks] 児玉甲子郎, 余錦華, 横田祥, 大山恭弘 : 電動カートペダル負荷の選定と検証, 平成20年電気学会産業応用部門大会ヤングエンジニアポスターコンペティション講演論文集, pp. Y-96, 2008

  • [Remarks] 小川雄貴, 余錦華, 横田祥, 大山恭弘 : 等価入力外乱手法による電動カートの路面摩擦係数の推定, 平成20年電気学会産業応用部門大会ヤングエンジニアポスターコンペティション講演論文集, pp. Y-98, 2008

  • [Remarks] 石井将太, 余錦華, 大山恭弘, 横田祥 : 心拍数を用いたリハビリテーション用電動カートの負荷選定, 第8回システムインテグレーション部門講演会, pp. 1186-1187, 2007

  • [Remarks] Shota Ishii, Jin-Hua She, Sho Yokota, Yasuhiro Ohyama : Heart-rate based pedal load selection for electric cart for rehabilitation, Proceedings of the Sixth China-Japan International Workshop on Internet Technology and Control Applications, pp. 65-70, 2007

  • [Remarks] 余錦華, 石井将太, 横田祥, 大山恭弘, 佐久間裕司 : 高齢者の健康を維持・増進する新型電動車, 第19回「電磁力関連のダイナミクス」シンポジウム, pp. 331-333, 2007

  • [Remarks] 竹田大祐, 橋本洋志, 大山恭弘, 余錦華, 山浦富雄, 木村幸男 : 人間動作を利用したロボット移動による人間の生活行動支援作業, 東京工科大学研究報告, No. 2, pp.83-92, 2007 (ISSN 1880-5752)

  • [Remarks] 石井将太, 余錦華, 大山恭弘, 横田祥, 佐久間裕司 : リハビリテーション用電動カートの負荷チューニング, 第7回(社)計測自動制御学会システムインテグレーション部門講演会, pp. 1249-1250, 2006

  • [Remarks] 石井将太, 余錦華, 大山恭弘, 横田祥 : ファジー制御によるリハビリテーション用電動カートの負荷調整, 電気学会リニアドライブ研究会, LD-06-48~68, pp. 43-48, 2006

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Published: 2010-06-10   Modified: 2016-04-21  

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