Development of Welfare Care Elements using Sponge-Core-Soft Rubber Actuator

使用海绵芯软橡胶执行器开发福利护理元件

• 批准号: 16560234
• 负责人: HAYAKAWA Yasuhiro
• 金额: $ 2.3万
• 依托单位: Nara National Collage of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2004
• 资助国家: 日本
• 起止时间: 2004 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-16560234/
• 关键词: Pneumatic Actuator; Welfare; Soft Mechanism; Congestion Prevention Mat; Sponge Rubber; Rehabilitation Machine; Protector; Impact Force; 機械力学・制御; 空気圧; 福祉用具; 転倒保護装具; 鬱血防止マット; 力制御; 位置制御; 外力推定性能

In order to develop a human friendly support machine for elderly people, improvement of the interface between human and mechanical system has been becoming very important. Especially, soft mechanical interfaces are strongly required in motion assist machines for handicapped people or elderly people. Therefore, an actuator that has both active elements and passive elements attracts attention to design the soft mechanical interface.To realize these elements, we propose a new type of pneumatic soft actuator that a sponge rubber is covered with silicon rubber (Sponge-Core-Soft rubber Actuator). Further, in this study we apply the soft rubber actuator to a new type of bed element to prevent congestion of the body. That is to say, in order to clear the effectiveness of the actuator, we examine the performance of the hybrid element to develop a congestion protection mat. Moreover, both the force control performance and the force estimation performance are cleared through some experimental results. As the results, the usefulness of the hybrid element is illustrated using experimental results.Next, we apply the actuator to a body protection orthosis. In the experiment, we investigate the impact absorptivity of the actuator under mechanical shock with respect to the pressure level in sponge chamber. Through some experimental results, the effectiveness of the orthosis is cleared.

为了开发一种人性化的老年人支持机器，改善人机系统之间的接口已经变得非常重要。特别地，在用于残疾人或老年人的运动辅助机器中强烈需要软机械接口。因此，同时具有主动元件和被动元件的驱动器的软机械接口的设计备受关注，为了实现这些元件，我们提出了一种新型的气动软驱动器--海绵芯软橡胶驱动器（Sponge-Core-Soft rubber Actuator）。此外，在本研究中，我们将软橡胶致动器应用于新型床元件，以防止身体充血。也就是说，为了明确的致动器的有效性，我们检查的性能的混合元件开发的拥塞保护垫。实验结果表明，该方法具有较好的力控制性能和力估计性能。最后，以实验结果说明此混合元件的有效性。接着，我们将此致动器应用于一个人体保护矫形器。在实验中，我们研究了机械冲击下的致动器的冲击吸收率相对于海绵室的压力水平。通过实验结果，验证了该矫形器的有效性。

项目成果

Study on Basic Characteristics of Pneumatic Sponge Core Soft Rubber Actuator

气动海绵芯软橡胶执行器基本特性研究

• 发表时间: 2005
• 期刊: Proceedings of IFPE 2005 Technical Conference
• 作者: 池内裕明;相良慎一;坂上憲光;武村史朗;早川 恭弘;Yasuhiro Hayakawa;早川 恭弘;早川 恭弘;早川 恭弘;Yasuhiro Hayakawa
• 通讯作者: Yasuhiro Hayakawa

Control Performance of a Sponge-Core-Soft Rubber Actuator for Welfare Machine

福利机海绵芯软橡胶执行器的控制性能

• 发表时间: 2005
• 期刊: Proceedings of 3rd European Medical & Biological Engineering Conference CD No.1397
• 作者: Yasuhiro Hayakawa;Kensuke Morishita;Masahide Oonuki
• 通讯作者: Masahide Oonuki

シリコン外殻型発泡ゴムアクチュエータの外力推定性能に関する研究

硅壳泡沫橡胶作动器外力估计性能研究

• 发表时间: 2004
• 期刊: 第22回日本ロボット学会学術講演会
• 作者: Yasuhiro Hayakawa;Syougo Hirota;Yasuhiro Hayakawa;Yasuhiro Hayakawa;早川 恭弘;早川 恭弘;早川 恭弘;Yasuhiro Hayakawa;Yasuhiro Hayakawa;早川 恭弘;早川 恭弘;Yasuhiro Hayakawa;早川 恭弘;早川 恭弘
• 通讯作者: 早川 恭弘

Basic Study with Development of Body Protection Orthosis using Silicon Outer Fence Mold Actuator

硅外栅模具致动器身体防护矫形器研制的基础研究

• 发表时间: 2004
• 期刊: Proceedings of Japan Mechanics Society Robotics and Mechatronics (Japanese) 2A1-L1-66
• 作者: Yasuhiro Hayakawa;Taichi Hata;Syougo Hirota;Kensuke Morishita
• 通讯作者: Kensuke Morishita

ソフトゴムアクチュエータを用いたハイブリッド要素

使用软橡胶执行器的混合元件

• 发表时间: 2006
• 期刊: 油空圧技術 Vol.45, No.2
• 作者: 池内裕明;相良慎一;坂上憲光;武村史朗;早川 恭弘
• 通讯作者: 早川 恭弘