Fundamental Research on Systematization of Welfare Control Engineering

福利控制工程系统化基础研究

• 批准号: 13450175
• 负责人: HORI Yoichi
• 金额: $ 9.79万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13450175/
• 关键词: Welfare Control Engineering; Support for Aged People and Disabled People; Motion Control of Human-Machine Cooperation; Power Assist Robot; Power Assist Wheelchair; Power Limb; Monitoring System for Aged People; Monitoring System for Industrial Robo

This research aims at establishing a new field, "Welfare Control Engineering", and develops new possibilities of contribution to support technology for aged people and disabled people based on the principles of control and instrumentation engineering. The following results were achieved,(1) Novel control scheme of power assist robot aiming at support for aged people.Novel control scheme of power assist robot based on position / force control were proposed and experimentally examined. Effectiveness about increase of force, operationality and feedback of environmental variation for the operator were verified based on performance evaluations using the experimental subjects. Realization of force sensorless control and improvement of operationality were also discussed, and a guideline of control system design in power assist robot was clarified.(2) Novel multifunction control system for power assist wheelchairNovel multifunction control system for power assist wheelchair was developed. Basi … More c assist control scheme and novel control method to prevent a dangerous overturn and realize a safe wheelie motion were proposed and examined using an actually produced experimental device.(3) Novel control and design scheme of power limbNovel control and design scheme of power limb including trajectory estimation method to realize safe walking was proposed. Experimental analysis of the practical human walking brought us possibility to apply it to walking support with power limb.(4) Proposal of a novel monitoring system for aged peopleA novel monitoring system to detect aged people's non-daily actions using a simple camera. Significance of this system was clarified based on the investigation of related research, and detection algorithm using eigenspace method was proposed and experimentally examined In addition, it was applied to monitoring system for industrial robots and detection of abnormal movements and speed analysis in the short calculation time were realized.Through the above discussion, the guideline of control system design in human-machine cooperative system was developed, and big possibility leading to future researches were given as the first step towards establishment of "Welfare Control Engineering", Less

这项研究旨在建立一个新的领域，即“福利控制工程”，并根据控制和仪器工程的原则为支持老年人和残疾人的技术提供贡献的新可能性。实现了以下结果，（1）动力辅助机器人的新型控制方案旨在为老年人提供支持。提出了基于位置 /力控制的功率辅助机器人的新型控制方案并通过实验检查。基于使用实验对象的绩效评估，验证了对操作员的力，操作和反馈的有效性。还讨论了无力传感器控制和改善操作性的实现，并阐明了Power Assist机器人中的控制系统设计指南。（2）开发了动力辅助的新型多功能控制系统，用于Power Assist Wheelairnovel多功能控制系统，用于电力辅助轮椅。 BASI…更多的C辅助控制方案和新的控制方法，以防止危险的倾覆并意识到使用实际生产的实验设备提出并检查了安全的轮子运动。（3）功率肢体控制和设计方案的新颖控制和设计方案，包括轨迹估算方法，包括轨迹估算方法，以意识到提出了安全步行。对实用人步行的实验分析使我们有可能将其应用于动力肢体的步行支撑。（4）针对老年人新颖的新型监测系统的新型监测系统的建议，以使用简单的相机来检测老年人的非每日动作。根据对相关研究的研究阐明了该系统的重要性，并提出了使用特征空间方法的检测算法并进行了实验检查，此外，它应用于监视系统的工业机器人和异常运动的检测和速度分析，并在短期计算中实现了上述研究的可能性，从而实现了系统的研究，并在系统中实现了系统，并实现了人类的范围。建立“福利控制工程”的第一步，更少

项目成果

Naoki Hata, and Yoichi Hori: "Basic Research on Power Umb using Variable Stiffness Mechanism"Proc. Of PCC-Osaka 2002. 917-920 (2002)

Naoki Hata 和 Yoichi Hori：“使用可变刚度机构的动力 Umb 的基础研究”Proc。

Naoki Hata, and Yoichi Hori: "Basic Research on Power Limb Using Gait Information of Able-Side Leg"Proc. of AMC 2002. 540-545 (2002)

Naoki Hata 和 Yoichi Hori：“利用 Able-Side 腿步态信息进行动力肢体的基础研究”Proc。

Naoki Hata, Yoichi Hori: "Basic Research on Power Limb using Variable Stiffness Mechanism"Proc. of PCC-Osaka 2002. 917-920 (2002)

Naoki Hata，Yoichi Hori：“使用可变刚度机构的动力肢体的基础研究”Proc。

畠 直輝, 堀 洋一: "受動歩行を応用した歩行支援型装具の実現"日本機械学会第2回福祉工学シンポジウム. 163-166 (2002)

Naoki Hatake、Yoichi Hori：“应用被动步行的步行支撑矫形器的实现”日本机械工程师学会第二届福利工程研讨会 163-166（2002 年）。

Hirokazu Seki, Masahito Iso, Yoichi Hori: "How to Design Force Sensorless Power Assist Robot Considering Environmental Characteristics"Proc. of IEEE-IECON. (2002)

Hirokazu Seki、Masahito Iso、Yoichi Hori：“如何设计考虑环境特征的无力传感器助力机器人”Proc。