成果報告書詳細
管理番号20110000001204
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人間装着(密着)型生活支援ロボットの開発 安全技術を導入した人間装着型生活支援ロボットスーツHALの開発
公開日2011/10/12
報告書年度2010 - 2010
委託先名CYBERDYNE株式会社 国立大学法人筑波大学
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 これまでに人に装着して身体機能の拡張・増幅・支援を行うロボットスーツHAL(Hybrid Assistive Limb)の開発を行い,安全性に関する機器仕様や運用方法について実証試験・フィールドテストを通じて獲得してきた.本研究開発では、この安全性に関する知見を基に、人間装着型生活支援ロボットの安全性に関する課題を更に深く抽出し,安全を実現するための要求仕様や運用ルールを整備し,高齢者・障害者の生活を支援する装着型ロボットの安全技術の研究開発を実施することを目的とする。
英文要約Title: Project for practical application of service robots, Development of physical assistance robots based on safety technology, Development of physically assistive robot suit HAL based on safety technology (FY2009-FY2011) FY2010 Annual Report
The Robot suit HAL (acronym for ”Hybrid Assistive Limb”) is a wearable robot which enhances and supports human motor functions by using Cybernics technologies. Our goal is to make the HAL more reliable for elder or disabled people by research and development of safety technologies: mechanical, electro-magnetic, functional, and applicational techniques. In this year we proceeded 1) functional safety technique in wearing time, 2) control technique, 3) safety management technique, 4) self-examination technique, 5) elemental technique for safety, 6) safety examination and 7) actual application and trials. Our major progresses are; [1] We improved a sensor system to measure floor reaction force and shoes. We also developed new and safer robotic exterior and adjust function for wearers' body shape; [2] We improved safety electronic system oriented to functional safety. Our substrates controls power units and detects abnormal behaviors of each other; [3] We made over-current shutdown function more reliable for functional safety. We re-organized the results of risk assessments, and clearly positioned operational policies as risk control methods; [4] We reviewed the structure of self-diagnosis, abnormal detection, and alarm system. We made a prototype of the new structure; [5] We developed circuit boards with less electro-magnetic wave emission and more-stabilized battery. We also developed safe battery packs and enhanced electric contacts; [6] We designed test methods to evaluate durability of inherent safety elements, which is hard to assure the potential by computer simulations. These progress are all based on reevaluated risk assessments. We plan to finish safety tests and enhance the safety performances of the HAL to the extent to pass a regulation; we also continue our research and development in the next year.
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