Controller design for human-friendly robotic orthoses considering the misalignment between human and orthotic motions

2022 Fiscal Year Final Research Report

• Project/Area Number: 21K14122
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: University of Miyazaki (2022); Tokyo Institute of Technology (2021)
• Principal Investigator: Masuya Ken 宮崎大学, 工学部, 准教授 (60796358)
• Project Period (FY): 2021-04-01 – 2023-03-31
• Keywords: ウェアラブルロボット / 運動アシスト / 運動推定 / Assist-as-Needed制御

Outline of Final Research Achievements

This study aimed to develop a human-friendly wearable robot consisting of two software-based methods: the real-time estimator of human joint motion only using sensors on the robot and the actuator controller compensating for the motion difference between the human and robot. As the motion estimator, we proposed a robust estimator of the human joint's center of rotation (CoR) based on an evaluation function. On the other hand, as the actuator controller, we proposed an Assist-as-Needed controller varying the velocity of the desired motion with the inner force acting attachment location. Integrating the estimator and controller, the wearable robot can compensate for the motion difference by using the estimated CoR.

Free Research Field

ロボット工学

Academic Significance and Societal Importance of the Research Achievements

従来研究の多くが，ハードウェアである機構に焦点をあてた人との親和性改善が主流であったことに対して，本研究の成果は，推定器・制御器のようなソフトウェアで人との親和性を改善することにある．このハードウェアではなくソフトウェアを中心とした設計方針は，本研究で扱った下肢のアシスト装具だけでなく，他のアシスト装具全般に対して重要な知見を与えることができる．さらに，日常での利用において，均一な装具が利用者に応じて適応していくインテリジェント装具の実現に貢献する．