Investigations on Human Haptic Mechanism for Impedance Adjustments of Whole Body in Dynamic Environmental Interactions

2016 Fiscal Year Final Research Report

• Project/Area Number: 26289057
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tohoku University
• Principal Investigator: Konyo Masashi 東北大学, 情報科学研究科, 准教授 (20400301)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 人間機械協調

Outline of Final Research Achievements

To investigate contributions of the high-frequency vibrations propagated in a human whole body and the related haptic mechanisms to realize dynamic body movement by impedance control of the musculoskeletal system, we develop an estimation method of the impedance of legs during lower limb exercises and a measurement method of the propagated vibration. We suggested that humans adjust the impedance of the feet during pedaling exercises to adopt environmental load changes. We also develop a novel method to record the relationship between the gait motions and propagated vibrations easily.

Free Research Field

ロボティクス・メカトロニクス