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

Research Project

Project/Area Number 26289057
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypePartial Multi-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTohoku 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
Project Status Completed (Fiscal Year 2016)
Budget Amount *help
¥16,380,000 (Direct Cost: ¥12,600,000、Indirect Cost: ¥3,780,000)
Fiscal Year 2016: ¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2015: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2014: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Keywords人間機械協調 / 人間機械システム
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.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Annual Research Report
  • 2014 Annual Research Report
  • Research Products

    (12 results)

All 2016 2015 2014 Other

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results,  Acknowledgement Compliant: 1 results) Presentation (9 results) (of which Invited: 3 results) Remarks (2 results)

  • [Journal Article] Evaluating Human Motor Function of Lower Limbs in Periodic Motion During Pedaling Exercise2015

    • Author(s)
      Tomohiro Miyazaki, Fumi Seto, Masashi Konyo, and Satoshi Tadokoro
    • Journal Title

      Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Volume: NA Pages: 2216-2223

    • DOI

      10.1109/iros.2015.7353674

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Presentation] 足首における慣性と振動計測を利用した歩行運動の簡易ロギング手法の提案2016

    • Author(s)
      加藤佳大
    • Organizer
      第17回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      サッポロコンベンションセンター(札幌市)
    • Year and Date
      2016-12-15
    • Related Report
      2016 Annual Research Report
  • [Presentation] 超高齢化社会を迎え撃つ! ~触覚フィードバック技術があなたを元気にする~2016

    • Author(s)
      昆陽雅司
    • Organizer
      東京オトナ大学
    • Place of Presentation
      東京駅サピアタワー(東京都)
    • Year and Date
      2016-11-12
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] 触覚のメガネを創るには ~皮膚感覚ディスプレイの新展開~2016

    • Author(s)
      昆陽雅司
    • Organizer
      日本顎口腔機能学会 第 57 回学術大会特別講演
    • Place of Presentation
      東北大学医学部百周年記念ホール(仙台市)
    • Year and Date
      2016-10-01
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] VRと体感インタフェースのための運動計測2016

    • Author(s)
      昆陽雅司
    • Organizer
      MAC3Dセミナー2016
    • Place of Presentation
      TEPIA(東京都)
    • Year and Date
      2016-07-15
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] 人体下肢振動を利用した歩行者の自己位置推定の補正2016

    • Author(s)
      加藤佳大
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2016
    • Place of Presentation
      パシフィコ横浜(横浜市)
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] ペダリング運動中における負荷変化提示による下肢運動機能評価2015

    • Author(s)
      宮崎友裕
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      京都市
    • Year and Date
      2015-05-17
    • Related Report
      2015 Annual Research Report
  • [Presentation] 歩行時の下肢に伝播する振動を用いた踵接地とつま先離地の検出2014

    • Author(s)
      門谷 周平
    • Organizer
      第15回測自動制御学会システムインテグレーション部門講演会 (SI2014)
    • Place of Presentation
      東京都
    • Year and Date
      2014-12-15
    • Related Report
      2014 Annual Research Report
  • [Presentation] ペダリング運動時の姿勢変化による下肢インピーダンスの推定2014

    • Author(s)
      宮崎 友裕
    • Organizer
      第15回測自動制御学会システムインテグレーション部門講演会 (SI2014)
    • Place of Presentation
      東京都
    • Year and Date
      2014-12-15
    • Related Report
      2014 Annual Research Report
  • [Presentation] 人体モデルを用いたペダリング運動時の下肢インピーダンス推定2014

    • Author(s)
      宮崎 友裕
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2014
    • Place of Presentation
      富山市
    • Year and Date
      2014-05-28
    • Related Report
      2014 Annual Research Report
  • [Remarks] 東北大学・昆陽雅司 個人サイト

    • URL

      http://www.rm.is.tohoku.ac.jp/~konyo/

    • Related Report
      2016 Annual Research Report
  • [Remarks] 東北大学 昆陽雅司

    • URL

      http://www.rm.is.tohoku.ac.jp/~konyo/

    • Related Report
      2014 Annual Research Report

URL: 

Published: 2014-04-04   Modified: 2018-03-22  

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