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Development of a Movable Neck Supporter with Adaptive and Learning Mechanism

具有自适应和学习机制的可移动颈部支撑器的开发

基本信息

批准号：
15560380
负责人：
YAMAMOTO Toru
金额：
$ 1.6万
依托单位：
HIROSHIMA UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

项目摘要

Recently, problems of a nursing care and a quality of life for aged people have been raised. Therefore, the medical and health care devices are required to not only supplement a physical disability but also contribute improvement the quality of life for the user. It is considered as one of the solutions that the control and information processing technology is introduced adequately, to realize the health care device supporting the user autonomously. By the way, some of the handicapped with a high degree of disability such as the amyotrophic lateral sclerosis(ALS) are not held their head up, because of the neck muscle weakness caused by the disease.Therefore, in this work, the development of a movable neck supporter(MNS) that assists the twist and nod motion of the user's head is proposed for the handicapped with the neck muscle weakness. The MNS infers the user intention using the eye control device and assists the head motion using several pneumatic actuators, to realize expanding the field of vision and making the gestures. By the way, to control the actuator that assists the head motion is difficult. Because the degree of lesion is different corresponding to the user, and his condition is always changing at the same user. Therefore, to realize an appropriate assist motion, the controller of the actuator is required that always adjusts the user condition. Moreover, because of the life sustaining organs are concentrated in the neck, an adequate security is required. Hence, the controller is also required high reliability. Thus, the CMAC-PID control scheme that has been already proposed by the authors is installed to the MNS, because it based on the highly reliable PID controller and the control parameters are tuned by the Cerebellar Model Articulation Controller(CMAC) that is a kind of the neural networks.

近年来，老年人的护理和生活质量的问题已经被提出。因此，要求医疗和保健设备不仅补充身体残疾，而且还有助于改善用户的生活质量。充分引入控制和信息处理技术，实现对用户的自主支持，被认为是解决方案之一。另外，肌萎缩性侧索硬化症（ALS）等残疾程度较高的残疾人由于颈部肌肉无力而无法抬头，因此，本研究提出了针对颈部肌肉无力的残疾人，开发能够辅助使用者头部的扭转和点头运动的可动颈部支撑器（MNS）。MNS通过眼控装置推断用户意图，并利用多个气动执行器辅助头部运动，实现视野扩展和手势制作。另外，控制辅助头部运动的致动器是困难的。因为病变的程度是不同的对应于用户，他的条件总是在同一个用户的变化。因此，为了实现适当的辅助动作，要求致动器的控制器总是调整用户条件。此外，由于维持生命的器官集中在颈部，因此需要足够的安全性。因此，控制器也需要高可靠性。因此，作者已经提出的CMAC-PID控制方案被安装到MNS中，因为它基于高可靠性的PID控制器，并且控制参数由神经网络中的小脑模型关节控制器（CMAC）整定。