溢流の防止を考慮した液体ハンドリング制御(機械力学,計測,自動制御) Liquid Handling Control Considering Spilling Avoidance(Mechanical Systems)

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In the near future, there will be a significant problem obtaining workers in the fields of welfare and nursing care because of a labor shortage. To solve this problem, many welfare robots, such as an upper extremity motion assistance robot and a meal assistance robot, have been studied. However, many problems remain regarding the practical application of meal assistance robots. Liquid transfer control is a challenge in robot design for meal assistance robots. Patients who have difficulty swallowing or weak sucking ability require a liquid diet, and there is thus a strong need for the development of a meal assist robot that can avoid spilling. The purpose of this paper is to design the trajectory with spilling avoidance when the spoon containing the liquid is transferred by manipulator. In order to avoid spilling of the liquid, a spilling model was evaluated by using a fluid analysis simulator. The effectiveness of the proposed method is shown by simulations and experiments.

収録刊行物

  • 日本機械学会論文集 C編

    日本機械学会論文集 C編 75(754), 1690-1697, 2009

    一般社団法人 日本機械学会

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各種コード

  • NII論文ID(NAID)
    110007338243
  • NII書誌ID(NCID)
    AN00187463
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03875024
  • NDL 記事登録ID
    10356844
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1056
  • データ提供元
    CJP書誌  NDL  NII-ELS  J-STAGE 
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