体幹部用多関節装着型ロボットの実現に向けた人体との接触圧力分布情報の制御利用の有用性検証

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2019/11/01

タイトル(英語): Validation of Control with Contact Force Distribution for Multi-joint Wearable Robot for Body Trunk Assist

著者名: 舟洞　佑記（名古屋大学大学院 工学研究科），内山　直哉（名古屋大学大学院 工学研究科），道木　慎二（名古屋大学大学院 工学研究科），道木　加絵（愛知工業大学 工学部）

著者名(英語): Yuki Funabora (Department of Information and Communication Engineering, Nagoya University), Naoya Uchiyama (Department of Information and Communication Engineering, Nagoya University), Shinji Doki (Department of Information and Communication Engineering, Nagoya University), Kae Doki (Electrical and Electronics Engineering Course, Aichi Institute of Technology)

キーワード: 多関節装着型ロボット，インピーダンス制御，面状圧力分布センサ，制御システム，体幹部アシスト　　multi-joint wearable robot，impedance control，tactile pressure sensor，control system，body trunk assist

要約(英語): In order to make a multi-joint wearable robot for assisting an user's motions on whole body trunk, this paper discusses the usefulness of control with contact force distribution between user and robot for ensuring the safety of the user. To ensure the safety with wearable assistive robots being different structure from the assisting part of the user, sensing and controlling contact force distribution applying to the user is desired. By utilizing the tactile pressure sensors on the robot's surface, the robot can measure physical contact force distribution as pressure distribution. In this paper, a control methodology based on general impedance control system with pressure distribution is presented. Then, the methodology is confirmed possibility to improve safety compared with conventional torque-base control methodology. In some basically simulations, the proposed control system can reduce power of maximum contact force applying to the user, indicating usability of contact force distribution information for improving safety of assist robots with different motions from assisting parts of the user.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.139 No.11 （2019）特集Ⅰ：国際会議ICESS 2018　特集Ⅱ：電気関係学会関西連合大会

本誌掲載ページ: 1325-1332 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/139/11/139_1325/_article/-char/ja/