Development of Personal Adaptable Intelligent Power Assisting System

个人自适应智能助力系统的开发

基本信息

批准号：
11835002
负责人：
NARUSE Keitaro
金额：
$ 2.56万
依托单位：
HOKKAIDO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

项目摘要

In this research project, the following three topics have been developed and investigated in order to realize the personal adaptable intelligent power assisting system.(i) Force control based on motion perception using Electricmiogram (EMG) signalsIn this system, it is necessary to consider an internal state of a human operator such as fatigue and slight changes of motion pattern, as well as conventional physical load. In this project, the method of representing the internal state with the EMG signals has been developed. Furthermore, the force control method with the internal state has been developed and verified.(ii) Modeling and analysis of individual motion perceptionUtilizing motion perception ability of an individual human operator, the power assisting system can become easier system to handle for him. In this project, we have focused on the system of wrist-elbow with three degrees of freedom, and we have investigated and modeled the interaction among the system. In addition, we have proposed the control system using the individual motion perception, and we have verified it.(iii) Development of power assisting device and its controlWe have developed two kinds of power assisting devices. The first one is a lightweight wearable one DOF device, and the other one is an external device of one DOF transnational motion. We have developed the personal adaptable control scheme by refining the above two control schemes, and we have applied it to the two devices. As a result, we have confirmed that the personal adaptable intelligent power assisting system, which can follow an arbitrary motion of a human operator with assisting force or torque, is achieved.

在本研究项目中，为了实现个人自适应智能助力系统，开发和研究了以下三个主题。（i）使用肌电图（EMG）信号基于运动感知的力控制在该系统中，有必要考虑操作人员的内部状态，例如疲劳和运动模式的轻微变化，以及常规的身体负荷。在这个项目中，开发了用肌电图信号表示内部状态的方法。此外，还开发并验证了具有内部状态的力控制方法。(ii)个体运动感知的建模和分析利用个体操作员的运动感知能力，助力系统可以成为他更容易操作的系统。在这个项目中，我们重点研究了三自由度的腕肘系统，并对系统之间的相互作用进行了研究和建模。此外，我们还提出了利用个体运动感知的控制系统，并对其进行了验证。 (iii)助力装置及其控制的开发我们已经开发了两种助力装置。第一个是轻量级可穿戴单自由度设备，另一个是单自由度跨国运动的外部设备。我们通过对上述两种控制方案的细化，开发了个人自适应控制方案，并将其应用到两种设备中。因此，我们已经证实实现了个人自适应智能助力系统，该系统可以通过辅助力或扭矩跟随操作者的任意运动。