成果報告書詳細
管理番号20110000001203
タイトル*平成22年度中間年報 生活支援ロボット実用化プロジェクト 安全技術を導入した移動作業型(操縦が中心)生活支援ロボットの開発 安全技術を導入した移乗・移動支援ロボットシステムの開発
公開日2011/10/12
報告書年度2010 - 2010
委託先名パナソニック株式会社 国立障害者リハビリテーションセンター
プロジェクト番号P09009
部署名機械システム部
和文要約和文要約等以下本編抜粋:1. 研究開発の内容及び成果等
(1) 研究開発の背景と目的
超高齢社会を迎え、実用化が期待される高齢者や障害者の自立をサポートする移乗・移動支援ロボットシステム事業化に向け、安全技術開発、安全規格整備を推進する。具体的には、1)ロボットシステムリスクアセスメント、2)操縦IF/支援技術・動的動作経路生成技術の研究開発、3)安全変形/動作技術の研究開発、4)ロボットシステム自己診断技術の研究開発、5)機能/システムユーザビリティーの研究開発、6)安全環境センシング技術の研究開発を行なう。
(2) 研究開発の成果
既存のロボティックベッドを用いて実施した基礎的なリスクアセスメント、安全コンセプト検証の結果をベースに、改良型のロボティックベッドである安全評価機の設計/製作を実施すると共に、前期に構想した各安全技術の基礎評価結果に基づき、テーマ毎に技術開発を進め、一部の技術についてはロボット実機に搭載して試用評価を実施した。
(2)-1 各安全技術の位置づけ
開発する安全技術の位置づけ、役割は図1のとおりである。安全に関する要因を外部(環境)要因、搭乗者(利用者)要因、内部(ロボット)要因に大別し、以下に説明する各安全技術の対応領域の明確化するとともに、各安全技術により全領域を漏れなくカバーできる位置づけ、構成としている。
英文要約Title: Project for practical applications of service robots, Development of manually operated mobile servant robots based on safety technology, Development of a robot system for assisting transfer based on safety technology (FY2009-FY2013) FY2010 Annual Report
Content and outcome of research and development: (1) Background and purpose : In aging societies, robotic systems are expected to support the independence of senior citizens and the disabled. We promote the development of safety technology and safety standards of service robots for the commercialization of robot technologies. : (2)Research and development outcomes:We designed and manufactured an improved Roboticbed for safety evaluations based on the results of a basic risk assessment and safety concept verification using an existing Roboticbed. We also promoted technology development for each subject based on the basic evaluation results of each safety technology devised in the previous term, and evaluated some of the technologies by incorporating them in actual robots. :(2)-1 Robot system risk assessment: We organized the operating conditions and design requirements, fixed the bed system configuration, extracted hazards, and determined the allowable risk level based on the risk assessment using an existing Roboticbed. :(2)-2 Research and development of steering navigation and dynamic path generation for safe movements: We incorporated a control assist algorithm devised in the previous term into an existing Roboticbed and conducted a basic evaluation. Based on the evaluation results, we devised and developed a new algorithm that corrects the position so that the control direction and movement direction correspond with each other so as to provide means to avoid obstacles more naturally. :(2)-3 Research and development of safety transform and movement technologies. :We made an evaluation model of the anti-pinch sensor comprising a flexible conductor and a mesh insulator, and conducted a basic performance evaluation. The evaluation results showed that the evaluation model had high sensitivity to flexible objects. :(2)-4 Research and development of a high reliability self-diagnostic robot controller: We started assessing the evaluation model of the safety robot controller made in the previous term and implemented a basic performance evaluation. We also specified the safety-related system required for the safety evaluation model based on the risk assessment results and the safety concept, and added related functions. :(2)-5 Research and development of dependable and useful robot system considering human characteristics: We selected people with disabilities as potential users of the Roboticbed based on the user profiles extracted through the evaluation by professionals, and conducted another evaluation comprising trial use by and interviews of the selected people. We identified issues related to users' body conditions and practical use in actual life conditions through analyses of behaviors during the trial use and interview results, and summarized functions to be added or improved. :(2)-6 Research and development of an ambient sensor installed in environments for robot safety: We installed a basic experiment system made in the previous term in a hospital and conducted an on-site sensor performance evaluations. We designed the verification system structure based on the results of analyzing the data obtained by the basic experiment system, and made a prototype.
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