成果報告書詳細
管理番号20120000001025
タイトル*平成23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 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2013/4/10
報告書年度2009 - 2013
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
部署名技術開発推進部
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
前年度に開発した安全評価機(改良型のロボティックベッド)を用いた再リスクアセスメントや安全性試験、想定ユーザによる模擬環境試験を行い、それらの結果をベースに、次年度に開発する安全実証機の安全コンセプトやシステム構成、安全関連部構成の検討を進めた。また、各安全技術については、単体評価を行うと共に、一部の技術を安全評価機に搭載し、実機評価による課題抽出/機能改善を図り、基本技術を完成させた。
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) FY2011 Annual Report
Content and outcome of research and development : (1)Background and purpose : In this super-aged society, transfer/movement assist robotic systems are expected to be commercialized to support the independence of senior citizens and the disabled. We promote the research and development of safety technologies and safety standards required for their commercialization. (2)Research and development outcomes : Using the safety evaluation model (improved robotic bed) developed last year, we conducted a risk reassessment, safety tests, and simulated environmental tests by potential users. Based on the results, we studied the development specifications of a safety demonstration model to be developed in the next year, identified issues and improved functions of each safety technology. (2)-1 Robot system risk assessment : We conducted a risk reassessment using the completed safety evaluation model. We then incorporated the reassessment results into the specifications of each safety technology under development. (2)-2 Research and development of steering navigation and dynamic path generation for safe movements : We developed a joystick handle with a shape that is easy for persons with severe disabilities to operate. We are now in the midst of conducting a basic evaluation using it. (2)-3 Research and development of safety transform and movement technologies : We developed an improved contact sensor in order to simplify the structure and improve the flexibility in terms of the minimum allowable bending radius. We then installed it in the safety evaluation model as a bumper sensor to prevent the wheels from cutting human bodies. (2)-4 Research and development of a high reliability self-diagnostic robot controller : We designed the safety functions for emergency stops and bumper sensor stops in accordance with ISO13849-1. With regard to the safety functions for the hold-to-run operation using the joystick, we designed them in accordance with IEC 61508. (2)-5 Research and development of functions and system usabilities : We conducted a trial where a total of six potential users tried the prototype model in simulated situations. We identified requirements for system improvement. Furthermore, we conducted a trial where a total of 11 potential users tried the safety evaluation model in the same situations in order to confirm that the improvement had enhanced the evaluation indicators and identify further requirements. (2)-6 Research and development of an ambient sensor installed in environments for robot safety : We reduced the control board size, optimized the transmission conditions, design and manufacture signals, and checked the operation link of the entire system.
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