Super-Skill Motion Control by Sense Feedback Using Multi-fingered Root Hand for Health-Support

使用多指根手通过感觉反馈进行超级技能运动控制以支持健康

• 批准号: 16360114
• 负责人: TERASHIMA Kazuhiko
• 金额: $ 9.6万
• 依托单位: Toyohashi University of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 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/grant/KAKENHI-PROJECT-16360114/
• 关键词: Multi-fingered hand; Massage robot; Hybrid control; Impedance control; Sense feedback; Macro-Micro control; Human muscle model; System identification; マッサージロボット; マクロ・マイクロ制御; 皮膚筋肉モデル; ハイブリッド制御; 擬人化ロボット; 健康支援ロボット

This research considers super-skill massage motion control by multi-fingered robot hand using sense feedback. First, arm and hand robot system is built in this research. Modeling and identification method is presented for human skin model. Mass-Spring-Damper model is proposed, and parameters are identified by system identification method. Model validity is proved by comparison between experiments and simulations. Second, adaptive impedance control is proposed according to the impedance of human skin model Macro-Micro control is presented, where fine control is conducted by hand, and large force control is done by arm. Finally, sense feedback system by monitoring impedance and EMG signal isconstructed. Through these research, basic knowledge of establishing intelligent massage control systems in future has been obtained.

本研究以多指机械手为研究对象，利用感觉回馈进行超技巧按摩运动控制。首先，本文建立了手臂和手的机器人系统。提出了一种人体皮肤模型的建模与辨识方法。建立了质量-弹簧-阻尼器模型，并采用系统辨识方法对模型参数进行了辨识。通过实验与仿真的比较，验证了模型的有效性。其次，根据人体皮肤模型的阻抗特性，提出了自适应阻抗控制方法，并提出了宏微控制方法，即用手进行精细控制，用手臂进行大力控制。最后，通过监测阻抗和肌电信号，构建了感觉反馈系统。通过这些研究，为今后建立智能按摩控制系统打下了基础。

项目成果

Massage Control to Adapt Human Skin Muscle Condition by Using Multifingered Robot Hand

利用多指机械手适应人体皮肤肌肉状况的按摩控制

• 发表时间: 2005
• 期刊: Proceeding of the Second International Conference on Informatics Control, Automation and Robotics (ICINCO 2005)
• 作者: Kazuhiko Terashima;Taku Kondo;Panya Minyong;Takanori Miyoshi
• 通讯作者: Takanori Miyoshi

生活支援に向けた理学療法学と工学との連携・制御・ロボット技術を一つの軸として-,

物理治疗和生命支持工程之间的协作、控制和机器人技术，

• 发表时间: 2005
• 期刊: 理学療法学 32巻,4号
• 作者: Kazuhiko Terashima;Taku Kondo;Panya Minyong;Takanori Miyoshi;寺嶋一彦
• 通讯作者: 寺嶋一彦

Model and Impedance Control of Human Skin Muscle by Using Multi-fingered Robot Hand,

多指机械手人体皮肤肌肉的模型与阻抗控制，

• 发表时间: 2005
• 期刊: Gerontechnology 2005, Nagoya Congress Center PS6a-2
• 作者: Kazuhiko Terashima;Taku Kondo;Panya Minyong;Takanori Miyoshi;Hideo Kitagawa
• 通讯作者: Hideo Kitagawa

Sense Feedback Control of Human Muscle by Multi-fingered Robot Hand

多指机械手对人体肌肉的感觉反馈控制

• 发表时间: 2005
• 期刊: 16th IFAC World Congress (pdf)
• 作者: Kazuhiko Terashima;Taku Kondo;Panya Minyong;Takanori Miyoshi;Hideo Kitagawa
• 通讯作者: Hideo Kitagawa

Model and Impedance Control of Human Skin Muscle by Using Multi-fingered Robot Hand

多指机械手人体皮肤肌肉模型及阻抗控制

• 发表时间: 2005
• 期刊: Proceedings of Gerontechnology May, Nagoya
• 作者: Kazuhiko Terashima;Taku Kondo;Panya Minyong;Takanori Miyoshi;Hideo Kitagawa
• 通讯作者: Hideo Kitagawa