リハビリ支援用空気圧ロボットアームの力制御の評価

• 川嶋 健嗣

  東京工業大学精密工業研究所

• 舩木 達也

  東京工業大学精密工業研究所

書誌事項

タイトル別名

• Evaluation of Force Control of Pneumatic Robot Arms Used to Support Rehabilitation
• リハビリ シエンヨウ クウキアツ ロボットアーム ノ チカラ セイギョ ノ ヒョウカ

抄録

Rehabilitation robots have become increasingly necessary in Japan due to the countries aging population. Pneumatic power is effective in this field because of its flexibility. In this study, a pneumatic robot arm to help subjects move from a sitting to a standing position using a pneumatic cylinder and a servo valve and its effectiveness were evaluated quantitatively. The stiffness control was applied for its movement. The performance of the robot was examined by measuring the movement of the human’s body using a digital video camera. The robot was used to help several subjects. This was done to investigate the effect of differences in physique. The knee torque was calculated to evaluate the assistance ratio. It became clear that the stiffness control is effective, but the control parameter must be changed owing to the weight of the subjects.

収録刊行物

• 日本フルードパワーシステム学会論文集

  日本フルードパワーシステム学会論文集 34 (1), 14-18, 2003

  一般社団法人 日本フルードパワーシステム学会

キーワード

• Pneumatic robot
• Force control
• Power assist
• Rehabilitation

詳細情報

• CRID: 1390001205255316480
• NII論文ID: 10029929547
• NII書誌ID: AA11597760
• ISSN: 13467719
• ISSN: 13497022
• ISSN: 18803121
• DOI: 10.5739/jfps.34.14
• NDL書誌ID: 6437804
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6437804
• Web Site: https://www.jstage.jst.go.jp/article/jfps/34/1/34_1_14/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可