A Study on Human Motion Model and Force Control Based Life Support for ADL
| Project/Area Number |
15H02235
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Keio University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
満倉 靖恵 慶應義塾大学, 理工学部(矢上), 准教授 (60314845)
野崎 貴裕 慶應義塾大学, 理工学部(矢上), 助教 (20734479)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥39,650,000 (Direct Cost: ¥30,500,000、Indirect Cost: ¥9,150,000)
Fiscal Year 2017: ¥10,790,000 (Direct Cost: ¥8,300,000、Indirect Cost: ¥2,490,000)
Fiscal Year 2016: ¥12,740,000 (Direct Cost: ¥9,800,000、Indirect Cost: ¥2,940,000)
Fiscal Year 2015: ¥16,120,000 (Direct Cost: ¥12,400,000、Indirect Cost: ¥3,720,000)
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| Keywords | 福祉機器システム / 力制御 / 生体信号処理 / IMUセンサ / パワーエレクトロニクス / 動作安定解析 / 転倒防止制御 / 日常生活動作支援 / f福祉機器システム制御 / 立ち上がり動作 / 階段乗降動作 / 動作安定性解析 / 福祉機器システム制御 / 対話型生活支機器システム |
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| Outline of Final Research Achievements |
Practical application of robots to social systems has been considered positively in developed countries which are becoming the aging society. Especially, it is expected that robots will bring significant change as a life support equipment for increasing healthy life expectancy. To address this issue, the research project aims to develop a model capable of expressing a person's internal and external state for human-assisted devices, and to construct a supporting device (Intelligent Tension Rod: ITR) based on the model. Furthermore, the intelligent control algorithm based on mode transformation is constructed. To confirm the effectiveness of the proposed system, simulations and experiments were conducted.
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Report
(4 results)
Research Products
(27 results)
