著者

山田 陽滋 鴻巣 仁司 森園 哲也 梅谷 陽二

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.68, no.666, pp.509-516, 2002-02-25

被引用文献数

26

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In the social context of an aging workforce at the labor intensive manufacturing sectors, we discuss an assisting system for older workers who have excellent skills though their physical ability to perform iterative tasks at a constant speed with high quality. "Skill-Assist" which is proposed in this paper is a new type of assisting system which varies its mechanical impedance to give workers who have been working under the lifetime employment system a sense of achievement in being again able to accomplish the skilled tasks they were capable of when younger. This paper discusses the control algorithm of Skill-Assist. First, a criterion for changing the impedance of Skill-Assist in response to task condition variations is explained to propose. "Phase-Dependent Impedance Control". Second, desirable impedance patterns are experimentally determined. The patterns are required to produce a good subjective operational feel and precise positioning when maneuvering Skill-Assist. Finally, the effectiveness of Skill-Assist is verified under more practical positioning tasks, which is evaluated based on the subjective operational feel, physical stress, and productivity.

著者

森園 哲也 山田 陽滋 山本 貴久 梅谷 陽二

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.69, no.679, pp.705-712, 2003-03-25

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There are many tasks in which cumbersome protective suits or large mass of objects to be manipulated obstruct "intuitive" skills such as picking up and grasping. Workers engaged in such tasks are distressed for inefficiency or early fatigue. However, the efficiency or fatigue will be improved if they can perform their intuitive skills even in those tasks by wearing an intelligent machine. Based on this idea, we proposed the concept of the wearable robot "SkilMate". This paper proposes a new type of mechanism named "wearable HEXA" as a prototype shoulder joint of the SkilMate. This mechanism is designed wearable and to give no constraint caused by geometrical factors for a wearer, so that movements of his/her shoulder necessary for the intuitive skills are not impeded and interfered. Detail of the mechanism and its design process are described, and evaluation for an experimental mechanism manufactured along the design process is demonstrated.

著者

山田 陽滋 森園 哲也 増尾 安弘 梅谷 陽二

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2002, 2002

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人間の手とロボットハンドの間には, 動力学パラメータや可動範囲, さらにアクチュエータの特性や, 取得できる触覚情報などにさまざまな違いがある。これらの違いから, 人間の手に対してロボットハンドの機能や性能に制約が生じている。本研究では, 人間がロボットハンドと同等の機能や性能に関する制約のもとで, ハンドに対する教示を与えることを考え, これを達成する為のWearableなロボットハンドを提案する。提案の対象として, まず指一本に着目する。