2022 Fiscal Year Final Research Report
Fundamental technical development and integration towards realization of human-powered cooperative robots
| Project/Area Number |
20K04376
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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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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
岡本 淳 東京女子医科大学, 医学部, 非常勤講師 (10409683)
遠藤 央 東京工業大学, 工学院, 特任准教授 (50547825)
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | ロボティクス / 人間機械システム / ロボット機構 |
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| Outline of Final Research Achievements |
Toward the realization of practical task by the human-powered cooperative robot, especially the assembly task assistance and the self-rehabilitation assistance, study on the mechanism and control for multi-DOF motion and improvement of accuracy were conducted.
Specifically, the development of the 3-DOF human-powered robot for rehabilitation, dynamic modeling and design of input-speed-sensitive assist power interruption system, investigation toward the design of human-powered personal mobility vehicle using the regenerative clutch, development of the operator’s exercise load estimation method, investigation on the evaluation of motion characteristics of passive mechanism driven by operational force, and development of a pressing force measurement system in focused ultrasound therapy were conducted.
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| Free Research Field |
ロボット工学，機構学
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| Academic Significance and Societal Importance of the Research Achievements |
操作者が動力を加えて駆動する「人力機械」は世に多くあるが，そのロボット化の方法論が議論された例はなかった．本研究の類似研究は世界にほとんどなく，本研究の成果により人力ロボティクスの更なる展開すなわち人力機械の知能化・ロボット化が可能になるという学術的意義がある．このことは同時に，手軽に利用でき多機能性と本質的安全性，健康増進／リハビリテーション機能，環境親和性を兼ね備える，これまでにないタイプのロボットシステムの実用化につながるという社会的意義もある．
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