Development of a Control Method of Assistive and Rehabillitation Robot to Induce Harmonized Movement of Whole Body

在日本的超老龄化社会，辅助和康复机器人现在被认为是支持老年人的有希望的方式。然而，大多数机器人只关注身体的目标部位，这种关注使得用户对其他身体部位的运动不平衡。本研究的目标是开发一种既能协调目标部位运动又能协调其他部位运动的控制策略。我们将实现这一目标的任务分类如下：(1)开发机器人使用过程中协调全身的模型；(2)优化用户在进行日常生活活动时的全身运动；(3)测试辅助和康复机器人的运动。基于上述三项任务，我们尝试开发了几种机器人

In the super-aged society in Japan, assistive and rehabilitation robots are now thought as promising ways to support elderly people. However, most of robots focus only on the target parts of the body and this focus makes the user's movement of the other body parts unbalance. In this research, the goal is to develop a control strategy which is able to harmonize the movement not only the target body part but also the other parts. We categorize the task to reach this goal as follows; (1)Development of a model to harmonize the whole body during using robots, (2)Optimization of the user's movement of whole body while performing activities of daily living,(3)Test movements of assistive and rehabilitation robots. We tried to develop several kinds of robots based on aforementioned three tasks