| 研究課題/領域番号 |
22J13072
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| 配分区分 | 補助金 |
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| 研究機関 | 筑波大学 |
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研究代表者 |
陳 陽 筑波大学, グローバル教育院, 特別研究員(DC2)
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| 研究期間 (年度) |
2022-04-22 – 2024-03-31
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| キーワード | control interface / assistive robotics / human machine coupling / mobile base / hands-free |
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| 研究実績の概要 |
The purpose of this research is to develop and evaluate an upper body-based shared control system for assistive mobility devices. In the past year, I focused the main attention on the improvement of the torso control system, which is one of the main parts of this research.
I have investigated two methods for improving the torso control system which I developed in the previous research, the first one focused on a new controller, the second method focused on a new mechanism, both methods aimed to improve the coupling between the human and the robot.
For the second one, I conducted experiments to verify the effectiveness. The preliminary results and methodology were presented in an international conference.
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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 research is a bit delayed compared with the original proposal. The biggest reason is that I was trying to solve a challenging robotics problem which delayed the publication of paper. If I was focusing more on the user study, the publication could have already been done.
However, I think the robotics problem that I was dealing with is very meaningful and will have a good impact in the future with my proposed solution.
The second reason of the delay is my internship at a national research institute of Japan, I conducted research and published a paper based on the outcome of internship. I believe this multi-field experience is not only helpful for me to become a better researcher but also beneficial for me to solve the problem in my JSPS research proposal.
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| 今後の研究の推進方策 |
I plan to submit a paper to an international journal as a summary of my research topic related to the torso control. In order to achieve that, a complete user study is required. This is expected to finish before July.
As a further step I will continue my research in the torso control based on my proposal of a new controller.
At the same time, I plan to visit ETHz to conduct a collaboration research to deepen my understanding of control interface and shared control on personal mobility devices. A research paper is expected to be an outcome, I will work closely with a startup, which is helpful for me to understand the practical problem and needs in the real world.
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