著者

矢野 賢一 大原 瑛一 堀畑 聡 青木 隆明 西本 裕

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.45, no.12, pp.638-645, 2009 (Released:2011-11-03)

参考文献数

9

被引用文献数

5 9

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A robot that supports independent living by assisting with eating and other activities which use the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. The proposed system using adaptive filter estimates tremor frequencies with a time-varying property and individual differences online. In this study, the estimated frequency is used to adjusting the tremor suppression filter which insulates the voluntary motion signal from the sensor signal containing tremor components. These system are integrated into the control system of the Meal-Assist Robot. As a result, the developed system makes it possible for the person with a tremor to manipulate the supporting robot without causing operability to deteriorate and without hazards due to improper operation.

著者

伊丹 琢 藪名香 俊人 家喜 湧大 矢野 賢一 山本 亮 小林 安之 篠田 信之 青木 隆明 西本 裕

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.856, pp.17-00291-17-00291, 2017 (Released:2017-12-25)

参考文献数

15

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We previously proposeda power assist robot and conductedexperiments for cervical cord injury(CCI) patients. This paper proposed a new type of robot orthosis by making of their residual function around their shoulder in order to operate the wheelchair. A lock/unlock mechanism on the elbow joint is effectively used to transmit the residual function around the shoulder to the hand. We confirmedthat three patients with CCI could use their residual functionaround their shoulderand operate a wheelchair effectively in outdoor environment like high resistance roads and roads with a slope by measuring velocity of the wheelchair and electromyography of his shoulder muscle.

著者

水谷 直人 石田 祐也 松井 博和 矢野 賢一 高橋 利道

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.2016, pp.2P2-07b2, 2016

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<p>Vehicle performance tests are conducted to evaluate factors of vehicle performance such as fuel consumption and durability. Robotic drivers are often used in these tests to ensure that performance evaluate is reproducible. When the driver selects the gear ratio in Manual transmission, speed control performance is degraded during changing gear, because a torque transmission between the engine and wheels is cut during this sequence. In this paper, we realized the driving while considering shift changes by the robotic driver. First, we modeled the lack of a driving force. We then derived a target vehicle speed waveform using the lack of a driving force model. Finally, we performed vehicle tests using a robotic driver. We confirmed that the proposed system was effective based on the results of actual vehicle tests.</p>

著者

鈴木 義文 堀江 浩司 矢野 賢一

出版者

一般社団法人日本機械学会

雑誌

東海支部総会講演会講演論文集

巻号頁・発行日

vol.2011, pp._206-1_-_206-2_, 2011

著者

戸田 貴弘 矢野 賢一 寺嶋 一彦

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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鋳造業における注湯作業は高温で危険であるにも関わらず自動化が遅れている。今回開発した自動注湯ロボットは, 搬送時には, スロッシングを発生させないで取鍋を搬送する。注湯時には, 鋳込み速度を向上させるため, 湯ロカップ内の液体を短時間で高いレベルまで立ち上げ, 保持する。取鍋の重量と傾動速度から, 流量予測制御により目標注湯量となるように湯切りをおこなう。また, 湯切り時にもスロッシングを抑制する。これらの一連の制御を研究室レベルの実験装置に適用して, 有効性を示す。