著者

安里 健太郎 金城 知子 豊里 一貴 大城 尚紀 下地 将生 比嘉 靖

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.141, no.2, pp.113-123, 2021

---

<p>This paper presents a novel seeds-needs cooperation method using an ICF model and a simplified embodiment model to develop nursing care robots. In the V-process of the nursing care robot development guidebook published by AMED, an ICF model is used to consider role of <i>robots</i> in providing <i>nursing care</i>. In addition, the simplified embodiment model contributes to the realization of <i>robots</i> to achieve better <i>nursing care</i> using the proposed method. In particular, the ICF model and the simplified embodiment model are useful to design and refine the development concept of a nursing care robot. The validity of the proposed method is confirmed by a development record of an all-in-one nursing care robot for transferring and moving support in the Okinawa nursing care robot consultation.</p>

著者

安里 健太郎 長堂 勤

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌. D, 産業応用部門誌 (ISSN:09136339)

巻号頁・発行日

vol.139, no.2, pp.136-142, 2019

---

<p>In this study, we developed a current sensorless voltage driven magnetic levitation system with a Hall element displacement sensor using Kalman filter. The system costs less and has higher portability than the current driven system developed in a previous study, and is utilized effectively for model-based development education. However, the use of the displacement sensor for a voltage driven magnetic levitation system causes two problems, namely compensation for measurement error and correction of Hall element output voltages in the sensor. Therefore, we have proposed compensation and correction methods using Kalman filter. To verify the validity of the proposed methods, a magnetic levitation control experiment with the developed system was conducted.</p>