WO2009034732A1 - 動作支援装置およびその制御方法 - Google Patents

動作支援装置およびその制御方法 Download PDF

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Publication number
WO2009034732A1
WO2009034732A1 PCT/JP2008/055449 JP2008055449W WO2009034732A1 WO 2009034732 A1 WO2009034732 A1 WO 2009034732A1 JP 2008055449 W JP2008055449 W JP 2008055449W WO 2009034732 A1 WO2009034732 A1 WO 2009034732A1
Authority
WO
WIPO (PCT)
Prior art keywords
arms
manipulator
detection means
supporting device
speed
Prior art date
Application number
PCT/JP2008/055449
Other languages
English (en)
French (fr)
Inventor
Kenichi Yano
Original Assignee
Gifu University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gifu University filed Critical Gifu University
Publication of WO2009034732A1 publication Critical patent/WO2009034732A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • Rehabilitation Tools (AREA)

Abstract

　上肢の動作を動作支援時に、皿等の食器や、使用者へのマニピュレータの接触を回避し得る動作支援装置およびその制御方法を提供する。 　使用者の上肢の動作を検出する第１検出手段と、該上肢の位置を検出する第２検出手段とを有し、これら各検出手段からの情報によって制御下に作動するマニピュレータを備え、上肢の動作から生成される作動目標速度情報を、マニピュレータの作動空間内に存在する対象物とマニピュレータの作動方向との関係に応じて設定される複数の速度係数から、抽出された第２検出手段の検出に基づくマニピュレータの位置と作動目標速度情報とに対応する速度係数に基づいて補正してマニピュレータを作動させる作動速度情報を生成することで、該上肢の動作を好適に支援するようにした。
PCT/JP2008/055449 2007-09-10 2008-03-24 動作支援装置およびその制御方法 WO2009034732A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007234692A JP2009066669A (ja) 2007-09-10 2007-09-10 動作支援装置およびその制御方法
JP2007-234692 2007-09-10

Publications (1)

Publication Number Publication Date
WO2009034732A1 true WO2009034732A1 (ja) 2009-03-19

Family

ID=40451746

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/055449 WO2009034732A1 (ja) 2007-09-10 2008-03-24 動作支援装置およびその制御方法

Country Status (2)

Country Link
JP (1) JP2009066669A (ja)
WO (1) WO2009034732A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010098358A1 (ja) * 2009-02-26 2010-09-02 国立大学法人岐阜大学 上肢動作補助装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11260530B2 (en) * 2016-12-02 2022-03-01 Cyberdyne Inc. Upper limb motion support apparatus and upper limb motion support system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09141580A (ja) * 1995-11-22 1997-06-03 Yaskawa Electric Corp 直接教示ロボットの動作範囲制限装置
JPH1158278A (ja) * 1997-08-25 1999-03-02 Yaskawa Electric Corp ロボットの制御装置
JP2007522838A (ja) * 2004-02-05 2007-08-16 モトリカ インク 微細運動制御のリハビリテーション

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09141580A (ja) * 1995-11-22 1997-06-03 Yaskawa Electric Corp 直接教示ロボットの動作範囲制限装置
JPH1158278A (ja) * 1997-08-25 1999-03-02 Yaskawa Electric Corp ロボットの制御装置
JP2007522838A (ja) * 2004-02-05 2007-08-16 モトリカ インク 微細運動制御のリハビリテーション

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010098358A1 (ja) * 2009-02-26 2010-09-02 国立大学法人岐阜大学 上肢動作補助装置
JPWO2010098358A1 (ja) * 2009-02-26 2012-09-06 国立大学法人岐阜大学 上肢動作補助装置
JP5493110B2 (ja) * 2009-02-26 2014-05-14 国立大学法人三重大学 上肢動作補助装置

Also Published As

Publication number Publication date
JP2009066669A (ja) 2009-04-02

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