Impedance Control for Multi-joint Wearable Assist Robots using Flexible Tactile Sensors

2015 Fiscal Year Final Research Report

• Project/Area Number: 26870274
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems; Rehabilitation science/Welfare engineering
• Research Institution: Nagoya University
• Principal Investigator: FUNABORA Yuki 名古屋大学, 工学(系)研究科(研究院), 助教 (20633548)
• Research Collaborator: DOKI Shinji ; DOKI Kae ; SONG Hyungeun ; UCHIYAMA Naoya ; HAN Tianshi ; SATO Asuka
• Project Period (FY): 2014-04-01 – 2016-03-31
• Keywords: アシストロボット / インピーダンス制御 / 面状圧力センサ / 多関節装着型ロボット

Outline of Final Research Achievements

In order to achieve safe assist for complex body part (body trunk), a structure determination method and novel impedance control systems have been researched. Basic structure of an assist robot (especially number of joint and link pattern) is determined through matching link pattern candidates with shape data of complex body part collected in human movements. Two novel impedance control systems based on physical contact forces measured by tactile sensors are proposed; one is tractable system using pseudo torque based on conventional torque base impedance control system, the other is advanced system based on inverse kinematics model of the robot to control all joints synchronously. By using these control systems, local contact forces with high magnitude occurred between user and robot can be reduced significantly. This research can realize safer assist system even for a complex body part.

Free Research Field

知能情報処理