| 研究課題/領域番号 |
23KF0222
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| 研究種目 |
特別研究員奨励費
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| 配分区分 | 基金 |
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| 応募区分 | 外国 |
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| 審査区分 |
小区分20020:ロボティクスおよび知能機械システム関連
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| 研究機関 | 東京工業大学 |
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研究代表者 |
武田 行生 東京工業大学, 工学院, 教授 (20216914)
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| 研究分担者 |
MENG QIZHI 東京工業大学, 工学院, 外国人特別研究員
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| 研究期間 (年度) |
2023-11-15 – 2026-03-31
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| 研究課題ステータス |
交付 (2023年度)
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| 配分額 *注記 |
2,000千円 (直接経費: 2,000千円)
2025年度: 800千円 (直接経費: 800千円)
2024年度: 900千円 (直接経費: 900千円)
2023年度: 300千円 (直接経費: 300千円)
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| キーワード | Assistive device / Mechanism design / Modeling / Performance evaluation / Type synthesis |
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| 研究開始時の研究の概要 |
Facing the urgent demand for the assistance of elderly and disabled people, the research aims at the adaptive intelligent assistive devices. Through the development of general methods of the modeling, mechanism design and control for this purpose, this research will contributes to the developments of sit-to-stand and walking assistance devices.
As well as theoretical research work, design and experiments using prototypes will be carried out toward the establishment of a generic design theory.
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| 研究実績の概要 |
The research work in this period is focused on human-device-environment integration modeling and analysis, and type synthesis of the assistive mechanisms. Topics of exoskeleton for finger rehabilitation, upper-limb assistive robot, and assistive device for ankle motion have been focused on, and research achievements are described as follows:
(1) To address the issue that the assumption of revolute joint aligning with the metacarpophalangeal joint is ideal but challenging to meet in practice, an improved design was proposed with two degrees of freedom (DOF) to realize both abduction/adduction and flexion/extension movements. Performance evaluation shows that the proposed mechanism exhibits good transmission performance throughout the workspace.
(2) To achieve better constraint property and higher stiffness potential of the upper-limb assistive robot, type synthesis of three-DOF parallel mechanisms was carried out to provide novel mechanisms. The attitude of the end effector is strictly constrained. In addition, application of gravity compensation strategy by springs has been investigated.
(3) Observing the walking state of the human foot, the connection of the soles of the feet with the ground has been investigated. Based on it, some ideas of the mechanism of the assistive device to reduce its structural complexity and increase the wearing comfort of the user have been found.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
The overall progress of the research has been relatively smooth. Research at this stage is mainly about human-device-environment integration modeling and analysis, and type synthesis of the assistive mechanisms.
In terms of the exoskeleton for finger rehabilitation, to achieve better interaction between the device and the figure, the abduction/adduction and flexion/extension movements of human fingers were analyzed and decoupled, and an improved design was proposed with two DOFs to avoid interference and uncomfortable wearing. Its kinematic modeling was established and performance analysis were carried out. Results show that the proposed mechanisms for flexion/extension and abduction/adduction movements generate good transmission performance. As for the upper-limb assistive robot, to provide more stable support and drive for the upper limbs, human-device stiffness in the operation space should be improved. This puts forward requirements for the restraint characteristics of the mechanism. To this end, type synthesis of the assistive mechanisms was conducted and a new spatial three-DOF parallel mechanism was proposed. Analysis shows that this mechanism has better constraint characteristics and higher stiffness potential, and can provide a basis for reliable human-computer interaction in subsequent research.
As can be seen from the above descriptions, this research progress at this stage involves type synthesis and mechanism design as well as modeling and analysis of the assistive mechanisms.
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| 今後の研究の推進方策 |
Future research plans include further enriching and improving human-device-environment integration modeling, and then focusing on the next steps, including the innovation design of the aimed assistive device, and its performance evaluation, optimization, and workspace identification.
Future research will focus on the upper-limb assistive robot and the assistive device for ankle motion. In particular, the structure design of the novel mechanism will be conducted to realize the desired motion of the feet, which will reduce the structural complexity of the assistive device and increase human wearing comfort. Human upper limb analysis and inputs in the assistance environment provide the functional requirements of the aimed assistive device to be designed. Motion-force interaction performance evaluation based on the transmission and constraint indices, as well as dimensional optimization under given constraints, will also be carried out. After obtaining high-quality geometric parameters, workspace identification will be performed to obtain the desired workspace of the system. Based on the above work, a preliminary physical prototype will be built to verify the effectiveness of the design solution.
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