研究者詳細 - 長谷川　泰久

講演・口頭発表等 - 長谷川　泰久

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支援機器操作を目的とした超音波による口腔内舌位置の検出

計測自動制御学会第12回計測自動制御学会システムインテグレーション部門講演会 2011年

指操作型力覚インタフェースによる小型ヒューマノイドの歩行制御

日本機械学会ロボティクス・メカトロニクス講演会2011 2011年

外骨格による把持力支援時の指先力精度の改善

計測自動制御学会第54回自動制御連合講演会 2011年

下肢完全麻痺患者に対する歩行支援システムの開発ー歩行安定性の向上を目的とした杖運用支援方法の提案ー

計測自動制御学会第12回計測自動制御学会システムインテグレーション部門講演会 2011年

空気圧アクチュエータによる指先剛性制御

日本ロボット学会第29回日本ロボット学会学術講演会 2011年

高磁場環境下における下肢動作提示システムの提案

日本機械学会ロボティクス・メカトロニクス講演会2011 2011年

遊脚収縮運動を用いた点接触仮定に基づく３次元２足歩行

日本ロボット学会第29回日本ロボット学会学術講演会 2011年

舌運動による生活支援装置のための操作インタフェースの提案

日本機械学会ロボティクス・メカトロニクス講演会2011 2011年

Dynamic transition motion from ladder climbing to brachiation for a multi-locomotion robot

Zhiguo Lu, Tadayoshi Aoyama, Kousuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

2010 International Symposium on Micro-NanoMechatronics and Human Science: From Micro and Nano Scale Systems to Robotics and Mechatronics Systems, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010 2010年12月1日

開催年月日： 2010年12月

記述言語：英語会議種別：口頭発表（一般）

This paper describes a dynamic transition motion from ladder climbing to brachiation for a multi-locomotion robot (MLR). In our previous works, the static transition motion from ladder climbing to barchiation has been developed. However, the motion is based on stable static model. It is difficult to realize the flexible and fast movement. To solve these problems, a new dynamic transition motion is proposed to simplify the action steps and increase the motion speed. The gravity is used to adjust the speed of turning body motion when the left hand and left foot are considered, and a pendulum model is used in the motion planning for the MLR to catch the second horizontal bar. The motion step is simplified and the motion speed is increased significantly by using the proposed method. The simulation result is realized by using the open dynamic engine (ODE) software. ©2010 IEEE.

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Three-dimensional bipedal walking control based on adaptation of PDAC constants

Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

開催年月日： 2010年12月

記述言語：英語会議種別：口頭発表（一般）

This paper proposes an adaptation control method of the PDAC constants that facilitates stabilization. Previously, we proposed a three-dimensional biped walking control based on Passive Dynamic Autonomous Control (PDAC). The robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergent controller based on the conservative quantities named "PDAC constant" was proposed, so that walking velocity and direction are controllable. However, the controller has a problem of slow convergent speed. In order to solve this problem, we develop the previous stabilizing method and propose an adaptation control method of the PDAC constants that adjusts parameters suitably every step. The proposed algorithm is verified by the numerical simulation. ©2010 IEEE.

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Cooperative control of exoskeletal assistive system for paraplegic walk - Transferring between sitting posture and standing posture, and going up and down on stairs

Yasuhisa Hasegawa, Junho Jang, Yoshiyuki Sankai

2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 2010年

開催年月日： 2010年

記述言語：英語会議種別：口頭発表（一般）

This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower limb in accordance with a patient wishes when a patient indicates his/her wishes by using residual functions such as motions of an upper limb. In our project, a pair of gloves with several DOFs was developed to convey wearer's wishes to the walking support system. The gloves measure his/her index fingers' swing that simulates foot motions of his/her walking and measure flexion or deviation of his/her wrist joint. The cooperative control algorithm based on a cart-table model designs trajectories of each joint for stable motions that satisfy the wishes expressed by the wearer's hand and wrist motions and then the designed motions are executed in realtime by the walking support system. As the first trial, a small humanoid robot is used for safety as a control target that corresponds to a combination of the patient body and the walking support system in an actual situation. Through some experiments it is confirmed that our algorithm enables the humanoid robot to start and stop stable walk with variable step length in the desired walking direction from a seated position and that it enables the robot to step aside and to go up and down stairs. © 2010 IEEE.

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PDACに基づく3次元歩行の環境適応性の解析

日本ロボット学会第28回日本ロボット学会学術講演会 2010年

Performance evaluations of hand and forearm support system

Yasuhisa Hasegawa, Kosuke Watanabe, Yoshiyuki Sankai

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 2010年 IEEE

開催年月日： 2010年

記述言語：英語会議種別：口頭発表（一般）

This paper reports support effects of an exoskeleton system for activities of a hand and an upper limb of a healthy person. The support system augments human forces of a hand, a wrist joint and an elbow joint based on bioelectric potential of each muscle so that the upper limb could be assisted by the exoskeleton with a certain rate of wearer's force. Actuators in the assistive system are replaced with powerful ones to supports human hand, wrist and elbow activities with larger force and torque. Through experiments it was confirmed that a wearer receives physical support from the system for activities of a hand, a wrist and an elbow joint and then we evaluate rate of assistance by comparing the magnitude of the bioelectric potential between under a supported phase and under an unsupported phase.

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Performance evaluation of hand and forearm support system

IEEEThe 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010年

Study on wearable system for daily life support using McKibben pneumatic artificial muscle

Masahiro Iwaki, Yasuhisa Hasegawa, Yoshiyuki Sankai

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 2010年 IEEE

開催年月日： 2010年

記述言語：英語会議種別：口頭発表（一般）

This paper proposes the basic technologies in order to develop a wearable hand assistive system for daily life support. Current prosthetics have some problems for wearability. We focus on the load caused by weight of wearable system. The actuator is one of the heaviest parts in wearable systems. Therefore we propose to use the McKibben pneumatic artificial muscle which is lightweight and compact in size. At first, we propose a new method to control air pressure of artificial muscle without pressure sensor in order to reduce the size of system. Second, we investigate variable stiffness of human finger to perform human finger dexterity and simulate it by using our proposed polyarticular tendon drive system.

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拮抗筋の生体電位パタンに基づく追加的意図の推定

日本ロボット学会第28回日本ロボット学会学術講演会 2010年

外骨格型前腕支援システム

日本ロボット工業会第12回建設ロボットシンポジウム 2010年

上肢支援システムの親和性向上に関する研究

計測自動制御学会第11回計測自動制御学会システムインテグレーション部門講演会 2010年

下半身麻痺患者と歩行支援システムの協調歩行制御 -小型ロボットを用いた協調歩行制御の確認-

日本機械学会ロボティクス・メカトロニクス講演会2010 2010年

マッキベン型空気圧人工筋を用いた指先剛性制御

計測自動制御学会FANシンポジウム 2010年

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<長谷川 泰久>

講演・口頭発表等 - 長谷川 泰久

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講演・口頭発表等 - 長谷川　泰久