人間の重量知覚特性を考慮したパワーアシストシステムの制御

• 研究課題/領域番号: 22560246
• 研究種目: 基盤研究(C)
• 配分区分: 補助金
• 応募区分: 一般
• 研究分野: 知能機械学・機械システム
• 研究機関: 三重大学
• 研究代表者: 池浦 良淳 三重大学, 大学院・工学研究科, 大学院工学研究科 (20232168)
• 研究期間 (年度): 2010 – 2012
• 研究課題ステータス: 完了 (2012年度)
• 配分額: 4,290千円 (直接経費: 3,300千円、間接経費: 990千円); 2012年度: 1,560千円 (直接経費: 1,200千円、間接経費: 360千円); 2011年度: 1,170千円 (直接経費: 900千円、間接経費: 270千円); 2010年度: 1,560千円 (直接経費: 1,200千円、間接経費: 360千円)
• キーワード: 人間機械システム / パワーアシスト / 重量知覚 / 操作性 / インピーダンス制御

研究概要

人間の重量知覚特性を考慮したパワーアシスト装置の制御手法を開発するため,まず,垂直1自由度に拘束されたパワーアシストシステムでは,自由度を拘束することによる影響が存在することを示した.次に,物体が床から離れるまでの床からの反力を測定及び解析し,物体を持ち上げる瞬間の力をパワーアシストシステムにより制御することによって,重量知覚を制御できることを示した

研究成果

• [雑誌論文] Improving interactions between a power-assist robot system and its human user in horizontal transfer of objects using a novel adaptive control method (2012)
  • 著者名/発表者名: S.M.M. Rahman and R. Ikeura
  • 雑誌名: Advances in Human-Computer Interaction 巻: 2012 ページ: 1-12
  • DOI: 10.1155/2012/745216
  • 査読あり
• [雑誌論文] Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects (2012)
  • 著者名/発表者名: S.M. Mizanoor Rahman and Ryojun Ikeura
  • 雑誌名: International Journal of Advanced Robotic Systems 巻: Vol.9, No.118 号: 4 ページ: 1-13
  • DOI: 10.5772/50894
  • 査読あり
• [雑誌論文] A novel variable impedance compact compliant ankle robot for overground gait rehabilitation and assistance (2012)
  • 著者名/発表者名: S.M.M. Rahman and R. Ikeura
  • 雑誌名: Procedia Engineering 巻: 41 ページ: 522-531
  • DOI: 10.1016/j.proeng.2012.07.207
  • 査読あり
• [雑誌論文] Estimating and validating relationships between actual and perceived weights for lifting objects with a power assist robot: The psychophysical approach (2012)
  • 著者名/発表者名: S.M. Mizanoor Rahman and Ryojyun Ikeura
  • 雑誌名: Procedia Engineering (International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012)) 巻: 41 ページ: 685-693
  • DOI: 10.1016/j.proeng.2012.07.230
  • 査読あり
• [雑誌論文] Manipulating Objects with a Power Assist Robot in Linear Vertical and Harmonic Motion: Psychophysical-Biomechanical Approach to Analyzing Human Characteristics to Improve the Control (2011)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura
  • 雑誌名: Journal of Biomechanical Science and Engineering 巻: 6 号: 5 ページ: 399-414
  • DOI: 10.1299/jbse.6.399
  • NAID: 130002066872
  • ISSN: 1880-9863
  • 査読あり
• [雑誌論文] Towards developing a human-friendly power assist robot for manipulating heavy objects (Special focus on manoeuvrability and object's surface friction) (2011)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura, Haoyong Yu
  • 雑誌名: International Journal of Biomechatronics and Biomedical Robotics 巻: Vol.1, No.4 ページ: 191-205
  • URL: http://www.inderscience.com/jhome.php?jcode=ijbbr
  • 査読あり
• [雑誌論文] Design and control of a power assist system for lifting objects based on human operator's weight perception and load force characteristics (2011)
  • 著者名/発表者名: S.M.Rahman, R.Ikeura, et al
  • 雑誌名: IEEE Transactions on Industrial Electronics 巻: 58 号: 8 ページ: 3141-3150
  • DOI: 10.1109/tie.2010.2087291
  • 査読あり
• [雑誌論文] Towards developing a human-friendly power assist robot for manipulating heavy objects (Special focus on manoeuvrability and object's surface friction) (2011)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, Haoyong Yu
  • 雑誌名: International Journal of Biomechatronics and Biomedical Robotics 巻: 1 ページ: 191-205
  • 査読あり
• [雑誌論文] Design and control of a power assist system for lifting objects based on human operator's weight perception and load force characteristics (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他2名
  • 雑誌名: IEEE Transactions on Industrial Electronics (Early Access) ページ: 1-9
  • 査読あり
• [雑誌論文] Design and control of a power-assist robot system for lifting objects based on human's unimanual and bimanual weight discrimination (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, Hideki Sawai
  • 雑誌名: International Journal of Assistive Robotics and Systems 巻: 11 ページ: 11-29
  • 査読あり
• [学会発表] パワーアシスト装置を用いた物体持ち上げ動作における重量知覚特性(重量知覚における反力の影響) (2013)
  • 著者名/発表者名: 石橋伸祐, 池浦良淳, 早川聡一郎, 澤井秀樹
  • 学会等名: 日本機械学会東海支部第62期総会講演会
  • 発表場所: 津
  • 年月日: 2013-03-19
• [学会発表] パワーアシスト装置を用いた物体持ち上げ動作における重量知覚特性（重量知覚における反力の影響） (2013)
  • 著者名/発表者名: 石橋伸祐, 池浦良淳, 早川聡一郎, 澤井秀樹
  • 学会等名: 日本機械学会東海支部第62期総会講演会
  • 発表場所: 津
• [学会発表] human-characteristics-based novel control method for harmonic manipulation of objects with a power assist robot (2012)
  • 著者名/発表者名: S.M. Mizanoor Rahman and Ryojun Ikeura
  • 学会等名: The 21st IEEE International Symposium on Robot and Human Interactive Communication
  • 発表場所: Paris, France
  • 年月日: 2012-09-09
• [学会発表] Investigating the factors affecting human'sweight perception in lifting objects with a power assist robot (2012)
  • 著者名/発表者名: S.M. Mizanoor Rahman and Ryojun Ikeura
  • 学会等名: The 21st IEEE International Symposium on Robot and Human Interactive Communication
  • 発表場所: Paris, France
  • 年月日: 2012-09-09
• [学会発表] Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans (2012)
  • 著者名/発表者名: S.M. Mizanoor Rahman and Ryojun Ikeura
  • 学会等名: The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
  • 発表場所: Roma, Italy
  • 年月日: 2012-06-25
• [学会発表] Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans (2012)
  • 著者名/発表者名: S.M. Mizanoor Rahman and Ryojun Ikeura
  • 学会等名: The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
  • 発表場所: Rome, Italy
• [学会発表] A human-characteristics-based novel control method for harmonic manipulation of objects with a power assist robot (2012)
  • 著者名/発表者名: S.M. Mizanoor Rahman and Ryojun Ikeura
  • 学会等名: 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication
  • 発表場所: Paris, France
• [学会発表] Investigating the factors affecting human's weight perception in lifting objects with a power assist robot (2012)
  • 著者名/発表者名: S.M. Mizanoor Rahman and Ryojun Ikeura
  • 学会等名: 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication
  • 発表場所: Paris, France
• [学会発表] パワーアシスト装置を用いた物体持ち上げ動作における重量知覚特性 (2012)
  • 著者名/発表者名: 石橋 伸祐，池浦 良淳，早川 聡一郎，澤井 秀樹
  • 学会等名: 平成24年度電気関係学会東海支部連合大会
  • 発表場所: 豊橋
• [学会発表] Lifting and lowering objects manually and with a power assist robot (Analysis of human features to develop biomimetic control) (2011)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura and Haoyong Yu
  • 学会等名: The 2011 IEEE International Conference on Robotics and Biomimetics
  • 発表場所: Phuket, Thailan
  • 年月日: 2011-12-10
• [学会発表] Novel biomimetic control of a power assist robot for horizontal transfer of objects (2011)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura and Haoyong Yu
  • 学会等名: The 2011 IEEE International Conference on Robotics and Biomimetics
  • 発表場所: Phuket, Thailan
  • 年月日: 2011-12-10
• [学会発表] Lifting and lowering objects manually and with a power assist robot (Analysis of human features to develop biomimetic control) (2011)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, Haoyong Yu
  • 学会等名: 2011 IEEE International Conference on Robotics and Biomimetics
  • 発表場所: プーケット,タイ
  • 年月日: 2011-12-10
• [学会発表] Novel biomimetic control of a power assist robot for horizontal transfer of objects (2011)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, Haoyong Yu
  • 学会等名: 2011 IEEE International Conference on Robotics and Biomimetics
  • 発表場所: プーケット,タイ
  • 年月日: 2011-12-10
• [学会発表] 物体持ち上げ動作における重量知覚特性 (2011)
  • 著者名/発表者名: 石橋伸祐, 池浦良淳, 早川聡一郎, 澤井秀樹
  • 学会等名: 日本機械学会第22回バイオフロンティア講演会
  • 発表場所: 津
  • 年月日: 2011-10-07
• [学会発表] Lowering objects manually and with power-Assist (Distinctions in perceived heaviness, load forces and object motions) (2011)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura, Shinsuke Ishibashi, Soichiro Hayakawa, Hideki Sawai and Haoyong Yu
  • 学会等名: The 4th International Conference on Human System Interaction
  • 発表場所: Yo kohama, Japan
  • 年月日: 2011-05-19
• [学会発表] Lowering objects manually and with power-Assist (Distinctions in perceived heaviness, load forces and object motions) (2011)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他4名
  • 学会等名: The 4th International Conference on Human System Interaction
  • 発表場所: 慶應義塾大学(横浜市)
  • 年月日: 2011-05-19
• [学会発表] Why does a power assist robot system reduce the weight of an object lifted with it? The preliminary results (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他3名
  • 学会等名: 2010 IEEE/SICE International Symposium on System Integration
  • 発表場所: 仙台
  • 年月日: 2010-12-21
• [学会発表] Why does a power assist system reduce the weights of objects lifted with it? The preliminary reasoning (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他3名
  • 学会等名: 2010 International Conference on Management Science and Information Engineering
  • 発表場所: Zhengzhou, China
  • 年月日: 2010-12-17
• [学会発表] A critical look at human's bimanual lifting of objects with a power assist robot and its applications to improve the power-assist control (2010)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura, Soichiro Hayakawa and Hideki Sawai
  • 学会等名: 2010 IEEE International Conference on Robotics and Biomimetics
  • 発表場所: Tianjin, China
  • 年月日: 2010-12-16
• [学会発表] Manipulating objects in harmonic motion: distinctions between power-assisted and manual manipulation (2010)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura, Ishibashi Shinsuke, Soichiro Hayakawa and Hideki Sawai
  • 学会等名: The 8th France-Japan and 6th Europe-Asia Congress on Mechatronics
  • 発表場所: Yokohama, Japan
  • 年月日: 2010-11-23
• [学会発表] Manipulating objects in harmonic motion : distinctions between power-assisted and manual manipulation (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他3名
  • 学会等名: The 8th France-Japan and 6th Europe-Asia Congress on Mechatronics
  • 発表場所: 横浜
  • 年月日: 2010-11-22
• [学会発表] Understanding the reasons for which power-assist-lifted weight is 40% of actual weight : the preliminary studies (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他3名
  • 学会等名: 2010 International Symposium on Micro-NanoMechatronics and Human Science
  • 発表場所: 名古屋
  • 年月日: 2010-11-07
• [学会発表] Harmonic motion analysis and control for manipulating objects with a power assist robot based on human characteristics (2010)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura, Masaya Nobe and Hideki Sawai
  • 学会等名: The 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
  • 発表場所: Tokyo, Japan
  • 年月日: 2010-09-27
• [学会発表] Worst-cases prediction by human in lifting objects with a power assist robot system: Effectiveness of a novel control strategy to improve the system performances in worst-cases (2010)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura and Hideki Sawai
  • 学会等名: The 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
  • 発表場所: Tokyo, Japan
  • 年月日: 2010-09-27
• [学会発表] Harmonic motion analysis and control for manipulating objects with a power assist robot based on human characteristics (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他2名
  • 学会等名: 2010 3rd IEEE International Conference on Biomedical Robotics and Biomechatronics
  • 発表場所: 東京
  • 年月日: 2010-09-26
• [学会発表] Worst-cases prediction by human in lifting objects with a power assist robot system : Effectiveness of a novel control strategy to improve the system performances in worst-cases (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他1名
  • 学会等名: 2010 3rd IEEE International Conference on Biomedical Robotics and Biomechatronics
  • 発表場所: 東京
  • 年月日: 2010-09-26
• [学会発表] Two complementary techniques for motion control of power assist system for lifting objects based on human characteristics (2010)
  • 著者名/発表者名: S.M. Mizanoor Rahman, Ryojun Ikeura, Masaya Nobe and Hideki Sawai
  • 学会等名: 2010 IEEE International Conference on Control Applications
  • 発表場所: Yokohama, Japan
  • 年月日: 2010-09-09
• [学会発表] Two complementary techniques for motion control of power assist system for lifting objects based on human characteristics (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他2名
  • 学会等名: 2010 IEEE International Conference on Control Applications
  • 発表場所: 横浜
  • 年月日: 2010-09-08
• [学会発表] Analysis of weight perception, load forces, and objects' motions in lifting objects with a power assist robot system to modify the control (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他1名
  • 学会等名: 2010 2nd International Conference on Mechanical and Electronics Engineering
  • 発表場所: 京都
  • 年月日: 2010-08-01
• [学会発表] Manipulating objects with a power assist robot in harmonic motion : Analysis of human features and object motions for control modification (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他1名
  • 学会等名: 2010 2nd International Conference on Mechanical and Electronics Engineering
  • 発表場所: 京都
  • 年月日: 2010-08-01
• [学会発表] Controlling a power assist robot for lifting objects considering human's unimanual, bimanual and cooperative weight perception (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, Masaya Nobe and Hideki Sawai
  • 学会等名: 2010 IEEE International Conference on Robotics and Automation
  • 発表場所: Anchorage, Alaska, USA
  • 年月日: 2010-05-05
• [学会発表] Controlling a power assist robot for lifting objects considering human's unimanual, bimanual and cooperative weight perception (2010)
  • 著者名/発表者名: S.M.Mizanoor Rahman, Ryojun Ikeura, 他2名
  • 学会等名: 2010 IEEE International Conference on Robotics and Automation
  • 発表場所: Anchorage, USA
  • 年月日: 2010-05-03
• [備考]
  • URL: http://www.ss.mach.mie-u.ac.jp/
• [備考] 三重大学大学院工学研究科機械工学専攻システム設計研究室
  • URL: http://www.ss.mach.mie-u.ac.jp/