Fundamental Research on Systematization of Welfare Control Engineering

福利控制工程系统化基础研究

基本信息

  • 批准号:
    13450175
  • 负责人:
  • 金额:
    $ 9.79万
  • 依托单位:
  • 依托单位国家:
    日本
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)
  • 财政年份:
    2001
  • 资助国家:
    日本
  • 起止时间:
    2001 至 2002
  • 项目状态:
    已结题

项目摘要

This research aims at establishing a new field, "Welfare Control Engineering", and develops new possibilities of contribution to support technology for aged people and disabled people based on the principles of control and instrumentation engineering. The following results were achieved,(1) Novel control scheme of power assist robot aiming at support for aged people.Novel control scheme of power assist robot based on position / force control were proposed and experimentally examined. Effectiveness about increase of force, operationality and feedback of environmental variation for the operator were verified based on performance evaluations using the experimental subjects. Realization of force sensorless control and improvement of operationality were also discussed, and a guideline of control system design in power assist robot was clarified.(2) Novel multifunction control system for power assist wheelchairNovel multifunction control system for power assist wheelchair was developed. Basi … More c assist control scheme and novel control method to prevent a dangerous overturn and realize a safe wheelie motion were proposed and examined using an actually produced experimental device.(3) Novel control and design scheme of power limbNovel control and design scheme of power limb including trajectory estimation method to realize safe walking was proposed. Experimental analysis of the practical human walking brought us possibility to apply it to walking support with power limb.(4) Proposal of a novel monitoring system for aged peopleA novel monitoring system to detect aged people's non-daily actions using a simple camera. Significance of this system was clarified based on the investigation of related research, and detection algorithm using eigenspace method was proposed and experimentally examined In addition, it was applied to monitoring system for industrial robots and detection of abnormal movements and speed analysis in the short calculation time were realized.Through the above discussion, the guideline of control system design in human-machine cooperative system was developed, and big possibility leading to future researches were given as the first step towards establishment of "Welfare Control Engineering", Less
本研究旨在建立一个新的领域,“福利控制工程”,并开发新的可能性,贡献的支持技术,为老年人和残疾人的控制和仪器工程的原则。取得了以下成果:(1)针对老年人支撑的助力机器人新型控制方案提出了基于位置/力控制的助力机器人新型控制方案,并进行了实验验证。通过对实验对象的性能评价,验证了力的增加、操作性和操作者对环境变化的反馈的有效性。讨论了无力传感器控制的实现和可操作性的提高,阐明了助力机器人控制系统设计的指导思想。(2)新型助力轮椅多功能控制系统研制了新型助力轮椅多功能控制系统。基础 ...更多信息 提出了一种防止危险倾覆和实现安全离地运动的C助力控制方案和新的控制方法,并在实际生产的实验装置上进行了验证。(3)提出了一种新的动力肢控制与设计方案,包括实现安全行走的轨迹估计方法。通过对人体实际行走的实验分析,为将其应用于动力肢步行支撑提供了可能。(4)一种新型的老年人监控系统的建议一种新型的监控系统,使用一个简单的摄像头来检测老年人的非日常行动。在对相关研究进行调研的基础上,阐明了该系统的研究意义,提出了基于特征空间法的检测算法,并进行了实验验证,将其应用于工业机器人的监控系统中,实现了在较短的计算时间内对机器人异常运动的检测和速度分析,为人机协同控制系统的设计提供了指导。作为建立“福利控制工程学”的第一步,

项目成果

期刊论文数量(42)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Naoki Hata, and Yoichi Hori: "Basic Research on Power Umb using Variable Stiffness Mechanism"Proc. Of PCC-Osaka 2002. 917-920 (2002)
Naoki Hata 和 Yoichi Hori:“使用可变刚度机构的动力 Umb 的基础研究”Proc。
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Naoki Hata, Yoichi Hori: "Basic Research on Power Limb using Variable Stiffness Mechanism"Proc. of PCC-Osaka 2002. 917-920 (2002)
Naoki Hata,Yoichi Hori:“使用可变刚度机构的动力肢体的基础研究”Proc。
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Naoki Hata, and Yoichi Hori: "Basic Research on Power Limb Using Gait Information of Able-Side Leg"Proc. of AMC 2002. 540-545 (2002)
Naoki Hata 和 Yoichi Hori:“利用 Able-Side 腿步态信息进行动力肢体的基础研究”Proc。
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    0
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畠 直輝, 堀 洋一: "受動歩行を応用した歩行支援型装具の実現"日本機械学会第2回福祉工学シンポジウム. 163-166 (2002)
Naoki Hatake、Yoichi Hori:“应用被动步行的步行支撑矫形器的实现”日本机械工程师学会第二届福利工程研讨会 163-166(2002 年)。
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  • 影响因子:
    0
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Hirokazu Seki, Masahito Iso, Yoichi Hori: "How to Design Force Sensorless Power Assist Robot Considering Environmental Characteristics"Proc. of IEEE-IECON. (2002)
Hirokazu Seki、Masahito Iso、Yoichi Hori:“如何设计考虑环境特征的无力传感器助力机器人”Proc。
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    0
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HORI Yoichi其他文献

HORI Yoichi的其他文献

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{{ truncateString('HORI Yoichi', 18)}}的其他基金

Integrated Research on Innovative Motion Control and Energy Storage System of Electric Vehicles
电动汽车创新运动控制与储能系统集成研究
  • 批准号:
    20246050
  • 财政年份:
    2008
  • 资助金额:
    $ 9.79万
  • 项目类别:
    Grant-in-Aid for Scientific Research (A)
Research on Future Vehicle Motion Control Technology by Capacitor Driven Small Electric Vehicles
电容驱动小型电动汽车未来车辆运动控制技术研究
  • 批准号:
    18360131
  • 财政年份:
    2006
  • 资助金额:
    $ 9.79万
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)
Advanced Control Technology for Near future Vehide driven by Electricity
近期电动汽车的先进控制技术
  • 批准号:
    15206028
  • 财政年份:
    2003
  • 资助金额:
    $ 9.79万
  • 项目类别:
    Grant-in-Aid for Scientific Research (A)
Stability Control of 4 Wheel Motored Electric Vehicle utilizing Electric Motor's Advanced Controllability
利用电动机先进可控性的四轮电动汽车稳定性控制
  • 批准号:
    11450163
  • 财政年份:
    1999
  • 资助金额:
    $ 9.79万
  • 项目类别:
    Grant-in-Aid for Scientific Research (B).
Vibration Suppression and Disturbance Rejection Control of Flexible Systems
柔性系统的振动抑制和抗扰控制
  • 批准号:
    07455168
  • 财政年份:
    1995
  • 资助金额:
    $ 9.79万
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)
High Performance Control of Robot Manipulator without Inverse Dynamics
无逆动力学的机器人机械手的高性能控制
  • 批准号:
    04452206
  • 财政年份:
    1992
  • 资助金额:
    $ 9.79万
  • 项目类别:
    Grant-in-Aid for General Scientific Research (B)
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