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受動要素を用いた安全な動作補助を実現する3自由度食事支援装置の開発
https://doi.org/10.24517/00059134
https://doi.org/10.24517/000591343eb31e6a-f39d-4329-8c79-bfdf9e9afc4e
名前 / ファイル | ライセンス | アクション |
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TE-PR-KOZUKA-H-kaken 2020-4p.pdf (455.0 kB)
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Item type | 報告書 / Research Paper(1) | |||||
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公開日 | 2021-05-13 | |||||
タイトル | ||||||
タイトル | 受動要素を用いた安全な動作補助を実現する3自由度食事支援装置の開発 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | 3-DOF Meal Support Robot using Passive Elements for safety | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_18ws | |||||
資源タイプ | research report | |||||
ID登録 | ||||||
ID登録 | 10.24517/00059134 | |||||
ID登録タイプ | JaLC | |||||
著者別表示 |
Koduka, Hiroaki
× Koduka, Hiroaki |
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提供者所属 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 金沢大学理工研究域フロンティア工学系 | |||||
書誌情報 |
令和1(2019)年度 科学研究費補助金 若手研究 研究成果報告書 en : 2019 Fiscal Year Final Research Report 巻 2018-04-01 – 2020-03-31, p. 4p., 発行日 2020-05-26 |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 本研究では,人が自由に前腕の変位を与えて操作し,空間内で人の前腕の位置を補助する5自由度の動作補助装置を開発した.同補助装置では,受動関節を機構内に設置している.人が前腕に変位を与えると受動関節が回転し,機構が変位することで,前腕の変位を検知する.同変位に応じて駆動関節で位置を補正することで,空間上の軌跡や面に沿う動作を可能にした.同装置の動作原理を応用し,食事支援装置の基礎装置として,前腕の軌跡補助を行う2自由度の装着形パラレルワイヤ式動作補助装置を開発した.同装置を用いて,手の振えである振戦を抑制した動作補助を実現し,食事支援の基礎手法を確立した. | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In this study, we developed a motion-assist arm that can assist a 3-DOF spatial motion of human forearm cooperating with human own will by controlling forearm's position according to an forearm’s inputting displacement. The arm has passive joints in its mechanism. By a rotation of the passive joints when the human inputs the displacement of the forearm, its mechanism moves and measures the displacement of the forearm. The arm can correct the forearm position to a path or a plate in 3D space cooperating with the human motion by controlling the forearm position using actuated joints according to the measuring displacement. Applying this method, a wearable 2-DOF parallel wire driven mechanism to assist a forearm motion was developed. Using the device, we conformed that an assistance of forearm motion with inhabiting a tremulousness. From this result, a basic method assisting a meal motion was established. | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 研究課題/領域番号:18K13726, 研究期間(年度):2018-04-01 – 2020-03-31 | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 出典:「受動要素を用いた安全な動作補助を実現する3自由度食事支援装置の開発」研究成果報告書 課題番号18K13726 (KAKEN:科学研究費助成事業データベース(国立情報学研究所)) (https://kaken.nii.ac.jp/ja/report/KAKENHI-PROJECT-18K13726/18K13726seika/)を加工して作成 |
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著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://kaken.nii.ac.jp/ja/search/?kw=80707589 | |||||
関連名称 | https://kaken.nii.ac.jp/ja/search/?kw=80707589 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://kaken.nii.ac.jp/ja/grant/KAKENHI-PROJECT-18K13726/ | |||||
関連名称 | https://kaken.nii.ac.jp/ja/grant/KAKENHI-PROJECT-18K13726/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://kaken.nii.ac.jp/ja/report/KAKENHI-PROJECT-18K13726/18K13726seika/ | |||||
関連名称 | https://kaken.nii.ac.jp/ja/report/KAKENHI-PROJECT-18K13726/18K13726seika/ |