逆運動学解法を用いた食事支援のための7自由度ロボットアーム・シミュレータ

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: 2020/09/01

タイトル(英語): Self-feeding Assistive 7-DOF Robotic Arm Simulator Using Solving Method of Inverse Kinematics

著者名: 島袋　雄一（琉球大学大学院），具志　翔太朗（琉球大学大学院），又吉　淳二（琉球大学大学院），比嘉　広樹（琉球大学）

著者名(英語): Yuichi Shimabukuro (Graduate School of Engineering, University of the Ryukyus), Shotaro Gushi (Graduate School of Engineering, University of the Ryukyus), Junji Matayoshi (Graduate School of Engineering, University of the Ryukyus), Hiroki Higa (University of the Ryukyus)

キーワード: 食事支援，ロボットアーム，肢体不自由者，VR（仮想現実）　　self-feeding assistance，robotic arm，people with disabilities of extremities，VR (virtual reality)

要約(英語): In order to help people with disabilities of the upper extremities drink and eat, a simulator for self-feeding assistive robotic arm using solving method of inverse kinematics has been developed in this paper. Using inverse kinematics equations of 7 degrees of freedom (DOF) with an arm angle parameter, the robotic arm model was implemented in the simulator and its controller with mouse device was also designed. The arm angle parameter defined the angle between the arm plane and a reference plane was used to resolve the robotic arm redundancy. Three able-bodied persons participated in simulation experiments. They manipulated the robotic arm model in a virtual space using mouse device. It was found from the simulation results they successfully performed the drinking and eating tasks in our simulator.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.140 No.9 （2020）

本誌掲載ページ: 1040-1049 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/140/9/140_1040/_article/-char/ja/