成果報告書詳細
管理番号20100000001181
タイトル*平成21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2010/11/10
報告書年度2009 - 2009
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技術開発部
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 applications of service robot, Development of physical assistance robots based on safety technology, Development of physically assistive robot suit HAL based on safety technology (FY2009-FY2011) FY2009 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 developed techniques and those evaluation environments to visualize and analyze wearer's motion and CoG (Center of Gravity) during walk; [2] We enhanced safety control reliability of power unit by improving computer system, motor driver system and mechanical system; [3] We improved stabilization performance of power supply and developed its monitoring techniques; [4] We built examination environment including measurement systems, which enables us to evaluate safety performance and self-examination performance of the HAL against external disturbances; [5] We developed circuit boards with less electro-magnetic wave emission and more-stabilized battery. We prepared ISO13485-ready computers and OSs (Operating Systems); [6] We also prepared small environment for safety examination including an electro-magnetic dark room and an emission scanner. We plan to 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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