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KAKEN_25220903seika.pdf
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Title |
Title |
力触覚技術による医工融合基盤の革新
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Kana |
リキショッカク ギジュツ ニ ヨル イコウ ユウゴウ キバン ノ カクシン
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Romanization |
Rikishokkaku gijutsu ni yoru ikō yūgō kiban no kakushin
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Revolution of integrated platform on medicine and engineering by haptic technology
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大西, 公平
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Kana |
オオニシ, コウヘイ
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Romanization |
Onishi, Kohei
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Affiliation |
慶應義塾大学・理工学部・教授
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Research team head
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科研費研究者番号 : 80137984
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小澤, 壯治
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Kana |
オザワ, ソウジ
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Romanization |
Ozawa, Sōji
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Affiliation |
東海大学・医学部・教授
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Research team member
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科研費研究者番号 : 10169287
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森川, 康英
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モリカワ, ヤスヒデ
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Morikawa, Yasuhide
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国際医療福祉大学・大学病院・教授
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Research team member
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科研費研究者番号 : 90124958
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大石, 潔
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Kana |
オオイシ, キヨシ
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Romanization |
Oishi, Kiyoshi
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Affiliation |
長岡技術科学大学・工学部・教授
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Research team member
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科研費研究者番号 : 40185187
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下野, 誠通
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シモノ, トモユキ
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Shimono, Tomoyuki
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横浜国立大学・大学院工学研究院・准教授
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Research team member
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科研費研究者番号 : 90513292
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名取, 賢二
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Kana |
ナトリ, ケンジ
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Romanization |
Natori, Kenji
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Affiliation |
千葉大学・大学院工学研究科・助教
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Research team member
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科研費研究者番号 : 70545607
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元井, 直樹
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Kana |
モトイ, ナオキ
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Romanization |
Motoi, Naoki
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Affiliation |
神戸大学・海事科学研究科・准教授
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Research team member
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科研費研究者番号 : 10611270
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2018
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科学研究費補助金研究成果報告書
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2017
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Abstract |
人工機械による非接触作業あるいは接触作業を実現するには, 発現したい運動機能に応じて力源と速度源を加速度空間で制御しなくてはならない。本研究ではそのための一般的手法を確立し, アルゴリズム化を図るとともに, 誰でも使えるようにカスタムLSIとしてハードウェア化することに成功した。これにより, 人間の力加減を含む巧妙な動作をデータ化することが可能になり, このデータを人工機械で再現することで, これまで産業用ロボットでは困難であった環境に順応する作業や器用な運動が可能になる。これを, 新たに開発した医工分野で使える11自由度22軸のHEM2で実験的に実証するとともに, 技術移転を目指して社会実装を開始した。
Control of force source and velocity source to realize desired functions is essential for both non-contact and contact motion for artificial machines including robots. This research succeeded in establishing general methodology for the purpose, and this has been represented as a set of control algorithms which has been successfully installed in a newly developed custom LSI. This hardware enables data origination of human motion skills and as well as can be used as control input of artificial machines so that they can accomplish compliant motion to environment and/or skilled motion like human. A newly designed and constructed machine called HEM2 (haptic end-effector for medicine and manufacturing) with 11 degrees-of-freedom and 22 axes has been examined for investigation. The successful results have been obtained from the experiments and the social implementation and the technology transfer have started in an alliance of university, enterprises, and companies.
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研究種目 : 基盤研究(S)
研究期間 : 2013~2017
課題番号 : 25220903
研究分野 : 電気電子工学
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