Development of Hybrid-type Motion Control Method for Intelligent Human Assistive System with Safe Function and Low Power Consumption

2015 Fiscal Year Final Research Report

• Project/Area Number: 24680062
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Partial Multi-year Fund
• Research Field: Rehabilitation science/Welfare engineering
• Research Institution: Tohoku University
• Principal Investigator: Hirata Yasuhisa 東北大学, 工学(系)研究科(研究院), 准教授 (20323040)
• Project Period (FY): 2012-04-01 – 2016-03-31
• Keywords: 医療・福祉 / 福祉ロボット / 人間支援 / ブレーキ制御

Outline of Final Research Achievements

In this research, we developed assistive systems such as the wheelchair, walker, and haptic device, with multiple functions. For controlling the assistive systems, we mainly used the DC servo motors as the regenerative brake. Based on the braking control, we could realize several assistive functions. This system can also charge the battery during the braking control, and we switches the control mode from braking one to active one in some situations such as climbing upslope. By changing the passive and active control methods appropriately, we realized the intelligent human assistive system with safe function and low power consumption.

Free Research Field

ロボット工学