Fundamental Research on Systematization of Welfare Control Engineering

本研究旨在建立“福利控制工程”这一新领域，并以控制与仪器工程的原理为基础，为老年人和残疾人的支持技术开发新的贡献可能性。主要研究成果如下：(1)基于位置/力控制的助力机器人新型控制方案。基于对实验对象的性能评估，验证了操作员在增加作用力、可操作性和对环境变化的反馈方面的有效性。探讨了助力机器人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)研制了新型助力轮椅多功能控制系统。基本…提出了更多的辅助控制方案和新的控制方法，以防止危险的倾覆，实现安全的轮式运动，并利用实际生产的实验装置进行了验证。(3)提出了新的动力臂控制设计方案，提出了包括轨迹估计方法在内的动力臂设计方案，实现了安全行走。通过对实际人体行走的实验分析，提出了将其应用于动力四肢步行支撑的可能性。(4)提出了一种新型的老年人监测系统--一种利用简单摄像机检测老年人非日常活动的新型监测系统。在调研相关研究成果的基础上，明确了本系统的研究意义，提出了基于特征空间方法的检测算法，并对其进行了实验验证，并将其应用于工业机器人监控系统中，实现了在较短的计算时间内对异常运动的检测和速度分析。通过以上讨论，为人机协同系统的控制系统设计提供了指导思想，并为以后的研究提供了很大的可能性，为建立福利控制工程奠定了基础

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