| Project/Area Number |
12650239
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Kochi University of Technology |
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Principal Investigator |
INOUE Yoshio Kochi University of Technology, Engineering, Professor, 工学部, 教授 (50299369)
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| Co-Investigator(Kenkyū-buntansha) |
TAKASAKA Yoichiro Hoshoki Unity Hospital, President, 院長
TANIOKA Tetsuya Kochi University of Technology, Medical, Associate Professor, 医学部, 助教授 (90319997)
KAI Yoshihiro Kochi University of Technology, Engineering, Research Associate, 工学部, 助手 (00320119)
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| Project Period (FY) |
2000 – 2002
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| Project Status |
Completed (Fiscal Year 2002)
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| Budget Amount *help |
¥4,000,000 (Direct Cost: ¥4,000,000)
Fiscal Year 2002: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2001: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 2000: ¥2,200,000 (Direct Cost: ¥2,200,000)
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| Keywords | Human Dynamics / Interaction between Human and Machine / Transfer Support / Multi-body system / Compliance Control / Plantar Pressure / Reaction Force and Moment / Intelligent Sensor / 腰痛 / 動力学 / 力学的相互作用 / 推定 / 関節モーメント / 動作 / 介護 / 設計 / 圧力 / 生活支援 |
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| Research Abstract |
At first, to analyze physical interaction between human and support system or between patient and caregiver we carried out an experiment of transfer support from bed to floor. By using 3-dimensional motion analysis system and force plate, motion of caregiver and patient were measured. We estimated force and moment applied to the back of the caregiver from the measured data.
As a fundamental technology for designing support system, it is very important to grasp interaction between human and machine. Then, we developed an estimation method of reaction force the floor applied to human foot and moment of ankle joint moment by using plantar pressure measurement device. In the process of the signal processing, curve fitting technique was applied for estimating the reaction force and the ankle joint moment.
Next, we applied compliance control method to support system. It can be seen that we can design a soft support system by using this method.
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