装着型ロボットアームを用いた人の腕の動力学モデリングと物理パラメータ推定

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2016/04/01

タイトル(英語): Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm

著者名: 山崎　貴大（埼玉大学大学院理工学研究科境野研究室），境野　翔（埼玉大学大学院理工学研究科境野研究室），辻　俊明（埼玉大学大学院理工学研究科境野研究室）

著者名(英語): Takahiro Yamazaki (Sakaino Laboratory, Graduate School of Science and Engineering, Saitama University), Sho Sakaino (Sakaino Laboratory, Graduate School of Science and Engineering, Saitama University), Toshiaki Tsuji (Sakaino Laboratory, Graduate School of Science and Engineering, Saitama University)

キーワード: 人の腕，多関節推定，装着型ロボットアーム，動力学モデリング　　human arms，estimation of multi-joint arm，wearable robot，kinetics modeling

要約(英語): This paper describes an estimation method for the physical parameters of human arms. The parameters are used in the medical and kinematic analysis fields. Personal differences are important, but some of the conventional methods do not consider personal differences pertaining to inertia in viscoelasticity muscular strength measurements. The remaining conventional methods that consider personal differences require precise measurement devices. The proposed method realizes kinetics modeling and identification of the friction and inertia including the off-diagonal parameters of human arms by using wearable robots. First, wearable robots are multi-input devices. In addition, the actuators of wearable robots can be located near human joints and can input M-sequence torque. Therefore, wearable robots can input signals having a high signal-to-noise ratio and ensuring persistently exciting characteristics in each human joint. By employing multi-input characteristics, the proposed method can reduce patients' burden by shortening the amount of time for estimation. In addition, we verify the accuracy of the estimated parameters by comparing the responses of the actual machine with those obtained by simulation.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.136 No.4 （2016）

本誌掲載ページ: 254-262 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/ieejias/136/4/136_254/_article/-char/ja/