アシストロボットの腰部負荷追従制御が筋疲労に与える影響

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: 2024/07/01

タイトル(英語): Effects of Controlling Assist Robots to Follow Lumbar Load on Muscle Fatigue

著者名: 吉田　裕亮（地方独立行政法人鳥取県産業技術センター），亀崎　高志（地方独立行政法人鳥取県産業技術センター），櫛田　大輔（鳥取大学工学部電気情報系学科（クロス情報科学研究センター））

著者名(英語): Yusuke Yoshida (Tottori Institute of Industrial Technology), Takashi Kamezaki (Tottori Institute of Industrial Technology), Daisuke Kushida (Electrical Engineering and Computer Science, Faculty of Engineering (Cross-Informatics Research Center), Tottori University)

キーワード: アシストロボット，ハンドセンサ，慣性センサ，筋電位センサ，腰部負荷，負荷追従　　assist robot，hand sensor，inertial sensor，myoelectric potential sensor，lumbar load，load following control

要約(英語): We developed an assist robot that changes its assist force in real time according to the lumbar load estimated from the load information on the hand measured using a hand sensor device and the posture information. Furthermore, using the developed assist robot, the effect of the load-following control on muscle fatigue was verified. The load was set at 6 kgf and 1 kgf, and the amount of muscle activity in the lumbar region was measured using a muscle potential sensor during continuous flexion-extension exercises. The central frequency of the power spectrum was calculated as muscle fatigue, and its time trend was obtained. For comparison, similar experiments were also conducted without an assistive robot and with an existing assistive robot. Consequently, when load-following control was used, muscle fatigue was reduced compared with existing assist robots in which the assist force was excessive in relation to the load. This shows the importance of load-following control that is necessary to control the assist force according to the load when the assist robot is worn during work in which the load changes in a complex manner.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.144 No.7 （2024） 特集：2023年電子・情報・システム部門大会

本誌掲載ページ: 602-607 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/144/7/144_602/_article/-char/ja/