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Development of Hydrostatic Knee Power Assist Device and Its Control with Sensitivity Maximization
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- Kaminaga Hiroshi
- The University of Tokyo
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- Tanaka Hirokazu
- The University of Tokyo
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- Amari Tomoya
- The University of Tokyo
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- Niwa Yamato
- The University of Tokyo
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- Nakamura Yoshihiko
- The University of Tokyo
Bibliographic Information
- Other Title
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- 感度関数増大によるアシスト制御を行う静油圧駆動膝用パワーアシストの開発
- カンド カンスウ ゾウダイ ニ ヨル アシスト セイギョ オ オコナウ セイ ユアツ クドウ シツヨウ パワーアシスト ノ カイハツ
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Description
Wearable robots that operate with the wearer's intention to augment muscle strength are called “power suits” or “power assists.” They are expected to play important roles in forthcoming aging society. In such robots, force sensitivity is a vital functionality in order to maintain comfort and safety. The objective of this paper is to develop a power assist device for daily use of elderly with comfort, safety, and reliability. We employ a variation of hydraulic system called electro-hydrostatic actuator to realize intrinsic backdrivability and high mechanical strength. The combination of a low impedance controller that actively enhances backdrivability and a sensitivity function maximization controller are used for power augmentation, which does not require unstable biological signal measurement. A power assist device for knee torque augmentation was developed; it is intended to support the large torque requirement, and to prevent knee buckling that leads to serious injuries.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 29 (7), 609-618, 2011
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679705506816
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- NII Article ID
- 10029513917
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 11228356
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- Text Lang
- ja
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- Article Type
- journal article
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- Data Source
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- JaLC
- NDL Search
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed