Development of Personal Adaptable Intelligent Power Assisting System

个人自适应智能助力系统的开发

• 批准号: 11835002
• 负责人: NARUSE Keitaro
• 金额: $ 2.56万
• 依托单位: HOKKAIDO UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11835002/
• 关键词: Power assisting system; Force control; Electricmiogram (EMG); Neural network; Human centered robotics; Motion perception

In this research project, the following three topics have been developed and investigated in order to realize the personal adaptable intelligent power assisting system.(i) Force control based on motion perception using Electricmiogram (EMG) signalsIn this system, it is necessary to consider an internal state of a human operator such as fatigue and slight changes of motion pattern, as well as conventional physical load. In this project, the method of representing the internal state with the EMG signals has been developed. Furthermore, the force control method with the internal state has been developed and verified.(ii) Modeling and analysis of individual motion perceptionUtilizing motion perception ability of an individual human operator, the power assisting system can become easier system to handle for him. In this project, we have focused on the system of wrist-elbow with three degrees of freedom, and we have investigated and modeled the interaction among the system. In addition, we have proposed the control system using the individual motion perception, and we have verified it.(iii) Development of power assisting device and its controlWe have developed two kinds of power assisting devices. The first one is a lightweight wearable one DOF device, and the other one is an external device of one DOF transnational motion. We have developed the personal adaptable control scheme by refining the above two control schemes, and we have applied it to the two devices. As a result, we have confirmed that the personal adaptable intelligent power assisting system, which can follow an arbitrary motion of a human operator with assisting force or torque, is achieved.

在本研究计画中，为了实现个人适应性智慧型助力系统，进行以下三个主题的开发与研究。(i)在该系统中，有必要考虑人类操作员的内部状态，如疲劳和运动模式的轻微变化，以及传统的物理负载。在本计画中，我们提出了一种以肌电信号来表示人体内部状态的方法。此外，与内部状态的力控制方法已经开发和验证。(ii)个体运动感知的建模与分析利用个体操作者的运动感知能力，助力系统可以成为他更容易操作的系统。在本计画中，我们以三自由度腕肘系统为研究对象，探讨并建立系统间之交互作用模式。此外，我们提出了使用个人运动感知的控制系统，我们已经验证了它。(iii)助力装置及其控制的研制我们研制了两种助力装置。第一个是一个轻量级的可穿戴单自由度设备，另一个是一个外部设备的一个自由度的跨国运动。通过对上述两种控制方案的改进，我们开发了个人自适应控制方案，并将其应用于这两种装置。其结果是，我们已经证实，个人自适应智能助力系统，它可以遵循人类操作员的辅助力或扭矩的任意运动，实现。

项目成果

Kita: "Control of Force Display Device by the Force Sensing System using EMG"Proc.of the Tenth International Conference on Artificial Reality and Telexistance. 153-160 (2000)

Kita：“利用 EMG 的力传感系统控制力显示装置”，第十届人工现实与远程存在国际会议论文集。

Keitaro Naruse, Tohru Hayashi, Hideo Kita, Hiroshi Yokoi and Yukinori Kakazu: "Force feedback device control utilizing human sensation errors"Proc.of The Ninth International Conference on Artificial Reality and Telexistance. 202-207 (1999)

Keitaro Naruse、Tohru Hayashi、Hideo Kita、Hiroshi Yokoi 和 Yukinori Kakazu：“利用人类感觉误差的力反馈设备控制”第九届人工现实与远程存在国际会议论文集。

林 成瀬、横井 嘉数: "装着型力覚提示装置のたまの感覚特性の計測"ロボティクス・メカトロニクス講演会'99講演論文集. 2P1-34-034(1)-(2) (1999)

Naruse Hayashi、Yoshikazu Yokoi：“可穿戴力呈现装置的偶尔感觉特征的测量”机器人和机电一体化会议 99 会议记录 2P1-34-034(1)-(2) (1999)。