空気圧駆動による可動式首サポータの開発における適応学習機能の実装(機械力学,計測,自動制御)

概要

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Owing to progress of the medical technology in recenty years, the basic survival of many people is being realized. However, that causes advent of the aging society, and a new issue is raised that how advance the quality of life of an elderly or a handicapped person. As one approach of the issue, it is considered to introduce the autonomous medical and health care devices that can assist the user according to the user motivation. In this paper, a movable neck supporter(MNS) is proposed for the handicapped unable to move his neck form his own motive with a high degree of disability. The proposed system has the parallel link mechanism using several pneumatic actuators. It assists the twisting and nodding motion of the user's head. By the way, the head motion is different individually, and it is all the time changing by his condition in each individual. Therefore, some adaptive control schemes are needed for the MNS. Furthermore, the pneumatic actuator has excellent compliance and flexibility, therefore that is good for the human-mechanical system. However, it also has nonlinearity, hence high precision control is difficult. Therefore, in this paper, the CMAOPID control scheme is installed on the H 8 microcomputer, and evaluated adaptability by some control experiments.
一般社団法人日本機械学会の論文
2005-06-25