权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Study of technical aid-for disabled person utilized hydraulic bilateral servo mechanisms

利用液压双边伺服机构对残疾人进行技术援助的研究

基本信息

批准号：
09650296
负责人：
SAITO Yukio
金额：
$ 1.98万
依托单位：
TOKYO DENKI UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1998
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650296/
关键词：
Technical aid-for disabled person Bilateral servo Force feedback type Power assistance Robotic aid for disabled person Diaper changing robotics Force transfer mechanisms by hydraulic pressure 福祉機器用アクチュエータマスター・スレーブ力伝達フルクローズドループ

项目摘要

The most difficult movements in care for old people confined to bed are motions to lift up a body such as bathing, changing a diaper and moving from bed. Although there were a lifter by counter-weight and a lifter with electric motor, more then two helpers were needed in the method to operate a switch because the switch operation and movements supporting a posture of old person were done at the same time.In this research, we have proceeded with a systematization of a force transfer mechanism by bilateral servo including motor as a strong power source and smoothness of oil pressure by introducing force feedback servo of bilateral servo system.Results in 1997 :In the first year, we manufactured by way of trial three kinds of oil pressure cylinders (phi20, phi3Oandphi50)using in both master and slave sides, which included a pressure sensor and displacement sensor. And then, we designed integration structure connecting motor rotational forces with a piston of master side directly though straight driving mechanism. As a result, we could move up and down 40kgf weight at 1.8Hz speed when composing bilateral servo system of gear box(reduction ratio : 25)by using AC motor of 16 watts in cylinder diameter ofphi30. In the case of position control, we use a symmetrical bilateral servo constructing a force feedback bilateral servo system.Results in 1998 :In the second year, we changed a servo system on personal computer and then obtained the result lifting up 5Okgf weight by one finger. We have just constructed a multipurpose robot with 3 degrees of freedom.As an interesting result, we confirmed a power assisting source as a welfare device by obtaining smooth motions because open loop movements are extremely stable in condition without feedback signal.

对于卧床不起的老人来说，最困难的动作是抬起身体的动作，如洗澡、换尿布和下床。虽然有一个配重升降机和一个电动升降机，但在操作开关的方法中需要两个以上的助手，因为开关操作和支持老年人姿势的运动是同时进行的。我们已经通过双向伺服系统进行了力传递机构的系统化，该双向伺服系统包括作为强动力源的电动机和油压的平滑性，1997年成果：第一年试制了三种主、从侧均用的油压缸（φ 20、φ 30、φ 50），包括压力传感器和位移传感器。设计了电机转动力通过直线驱动机构直接与主侧活塞连接的一体化结构。结果表明，当采用φ 30的16瓦交流电动机组成减速比为25的齿轮箱双向伺服系统时，可以以1.8Hz的速度上下移动40kgf的重物。1998年的结果：第二年，我们在个人电脑上改造了一个伺服系统，并取得了一个手指举起50kgf重物的结果。我们刚刚构建了一个3自由度的多用途机器人。作为一个有趣的结果，我们确认了一个助力源作为福利装置，通过获得平稳的运动，因为开环运动是非常稳定的条件下，没有反馈信号。