Development of mechanical regulator to adjust gradual transition of dynamical interaction between human operator and robot

2014 Fiscal Year Final Research Report

• Project/Area Number: 24560312
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Doshisha University
• Principal Investigator: TSUMUGIWA Toru 同志社大学, 生命医科学部, 准教授 (90362912)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: ロボット / 人間－機械協調系 / ロボットの運動制御 / マンマシンインターフェース

Outline of Final Research Achievements

The purpose of this study is to develop a mechanical device to regulate gradually the magnitude of interference of the dynamic characteristic of a human operator and a robot under the human-robot cooperative task. The experimental results show that the proposed mechanical device enables a gradual transition of interference of the dynamical interaction between the human operator and the robot. To investigate the effectiveness of the proposed control strategy, a quantitative analysis method for evaluating the human-robot cooperative task is developed. The results of this study are published in the internal/international conferences and journals of the mechanical engineering and the robotics.

Free Research Field

ロボット工学、制御工学、機械工学