| 研究課題/領域番号 |
19K14934
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| 研究機関 | 筑波大学 |
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研究代表者 |
Hassan Modar 筑波大学, システム情報系, 研究員 (20830201)
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| 研究期間 (年度) |
2019-04-01 – 2021-03-31
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| キーワード | mechanical linkage / assistive robots / elastic element |
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| 研究実績の概要 |
I was able to investigate parallel elastic tendons (PETs) in two technologies: 1. Robotic ankle foot orthosis with PET, and 2. Lumbar support with PET. Currently i am in the process of miniaturizing the PET for the robotic hand application.
I was able to make a simulation of 4 bar linkage mechanism using MATLAB Simscape mechanics. The model can simulate a multi-link mechanism with PET and/or with a series elastic actuator to investigation of the different properties of PETs compared to series elastic elements.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
3: やや遅れている
理由
The design and investigation of PET for robotic hands is delayed due to issue in assembly of the device. Alignment of the axial components failed so far, and thus the assembly was not functioning properly. Large friction is currently preventing the PET from functioning properly. Upon consultation with manufacturing engineers the issue is solvable, but customized parts for proper assembly need to be used.
I was not able to purchase the tensile testing frame (島津製作所) since it was over the entire budget of the this project. Therefore I am currently developing a budget frame by myself for testing the PETs. Instead of using an actuator the developed testing frame will use impulse response to estimate the properties of PETs.
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| 今後の研究の推進方策 |
I created a model for tensile testing workshop, and the setup is currently being assembled. This will be used to investigate the braking and viscosity regulation properties of the various PETs developed (lumbar, AFO, and robotic hand versions).
The original plan was to acquire these properties in the first quarter of 2020, but currently this will be delayed to second quarter due to covid-19 restrictions for working from home.
For investigating the robotic hand version of PET. Currently I am designing special parts to aid with the assembly for proper alignment of the axial parts. Once this is achieved it will be investigated with the tensile workshop and compared to the theoretical model.
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| 次年度使用額が生じた理由 |
Prototyping of PET for robotic hands: machined parts, coils, MR fluid.
data acquisition equipment for tensile testing frame.
journal publishing fee (planned journal with MRLift for lumbar support with PETs).
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