HAL-3 HAL
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1 HAL ( )
2 HAL-3 HAL
3 HAL HAL HAL i
4 ii
5 1.1 HAL HAL HAL Phase Phase Bezier 0[rad] Bezier iii
6 A A B Phase Phase B...69 iv
7 A B...64 v
8 1 1.1 *[1] * 1
9 J. Pratt RoboKnee[2][3] Johnson Repperger [4][5] TOYOTA i-foot[6] [7][8][9] Colombo driven gait orthosis:dgo Lokomat [9] Lokomat Colombo 2
10 HAL Hybrid Assistive Limb HAL-1[10] HAL-2 HAL-3[11][12] HAL-4[13] [14]~[21] HAL HAL RoboKnee Lokomat HAL HAL HAL 3
11 1.1 HAL 1.2 4
12 [22] 2 HAL 4 [ 1] [ 2] [ 3] [ 4] 5
13 6 [ 1] [ 1] [ 2] HAL HAL [ 3] [18]~[21] [ 4] HAL HAL 2
14 1.4 2 HAL HAL 5 4 HAL 6 7
15 2 HAL HAL Hybrid Assistive Limb HAL HAL HAL-1 HAL-2 HAL-3 HAL-4 HAL-1 HAL-2 HAL-3 HAL-1 HAL-2 HAL HAL-3 HAL-4 8
16 2.2 HAL-3 HAL HAL-3 1 HAL HAL HAL 2.1 HAL-3 9
17 2.2 HAL-3 5 HAL-3 HAL HAL-3 HAL-3 DC DC 2 HAL-3 HAL 3 1 OS RT-Linux 10
18 2.2 HAL-3 11
19 CRS Pitch Roll Yaw
20 Supply Voltage 5.0[V] Rate Range 100[deg/sec] Scale Factor 20[mV/(deg/sec)] Scale Factor Variation with Temperature 3[%] Bias 50[% (of Vdd)] Bias Initial Error 60[mV] Bias Variation with Temperature 60[mV] Cross Axis Sensitivity 1[%] Current Dissipation (not more than) 50[mV] 1 Vdd V 0 = V dd + ( Ra SF ) where: V o : Rate Output[V], V dd : Supply Voltage[V], R a : Applied Rate[deg/sec], SF : Scale Factor[V/(deg/sec)] 13
21 0.3 Angular Velocity [rad/sec] PostureRollAngularvelocity[rad] Time [sec] 2.5 0[rad/sec] Roll 0.6 Angle [rad], Angular Velocity [rad/sec] PostureRollAngularvelocity[rad] PostureRollAngle[rad] Time [sec]
22 2.4 HAL DX 2.7(a) (a) DX (b) DX 2.2 DX 15
![2.2 580 [mm] (425[mm]) 640[mm] (585[mm]) 850](/docs-images/91/105018928/images/23-0.jpg "1200[mm] 13[kg] 1 2.7(b) HAL 2.8 3 DX 2.8 16")
23 [mm] (425[mm]) 640[mm] (585[mm]) [mm] 13[kg] 1 2.7(b) HAL DX
24 2.4.2 HAL HAL U 2.9 U
25 2.10 (a) (b)
26 2.5 HAL-3 HAL-3 19
27 3 HAL PD 3.1 HAL
28 q ref q = q & ref _ RH ref _ RH q q& ref _ LH ref _ LH q q& ref _ RK ref _ RK q q& ref _ LK ref _ LK T 3.1 q q = q& RH RH q q& LH LH q q& RK RK q q& LK LK T 3.2 e = q ref q 3.3 k k = k p _ RH d _ RH k k p _ LH d _ LH k k p _ RK d _ RK k k p _ LK d _ LK 3.4 τ = ke 3.5 q q q q q q q q ref _ RH ref _ LH ref _ RK ref _ LK RH LH RK LK : q& : ref _ RH : q& : ref _ LH : q& : ref _ RK : q& : : q& : q& : q& : q& ref _ LK RH LH RK LK : : : : k k k k p _ RH p _ LH p _ RK p _ LK : P : P : P : P k k k k d _ RH d _ LH d _ RK d _ LK : D : D : D : D τ 21
29 HAL HAL 3.2 (a)(b)(c) HAL [cm] [kg] [cm] (Right/Left) 44/44 39/38 [cm] (Right/Left) /45 37/37 22
30 (a) HAL 3.2 (b) 3.2 (c) 3.2 (b) 50 HAL 3.2 (c) 30[sec] 30[sec] 31[sec] 0.1[rad] 1 HAL 3.3 (a)(b)(c) 3.3 (a) (b) (c) [msec] HAL 23
31 HAL
32 Angle [rad] LeftHipAngle reflefthip Time [sec] 1.2 (a) Angle [rad] LeftHipAngle reflefthip Time [sec] (b) Angle [rad] LeftHipAngle reflefthip Time [sec] (c)
33 LeftHipAngle reflefthip Angle [rad] Time [sec] (a) Angle [rad] LeftHipAngle reflefthip Time [sec] (b) Angle [rad] LeftHipAngle reflefthip Time [sec] (c)
34 3.1.3 [ 1] [ 2] 1 [ 3] [ 4] [ 5] [ 6] [ 7] 27
35 HAL HAL HAL HAL HAL [23] 4 28
36 3.4 29
37 3.2.3 Step 1 Step RightHipAngle[rad] RightKneeAngle[rad] 1 Angle[rad] Time[sec]
38 [Step 1] Phase 1 2Phase 3.6 (a) (b) 3.7 (a) 3.7 (b) Phase Phase 3.8 Phase Phase 3.8 Phase Phase Step 1 Phase Phase Phase 3.11 Phase 1 Step 7 Phase Step 7 Step 1 31
39 FRF[N] RightFrontFRF[N] RightRearFRF[N] Time[sec] (a) FRF[N] LeftFrontFRF[N] LeftRearFRF[N] Time[sec] (b) 3.6 FRF[N] RightFRF[N] Time[sec] (a) FRF[N] LeftFRF[N] Time[sec] (b)
40 3.8 Phase
41
42 3.11 Phase 35
43 [Step 2] Step 1 Step 1 1 Step 2 Step st step 5th step nd step 3rd step 4th step Step 3 Step 4 [Step 3] Step 2 n n α = n n 3.6 ) α α Step 2 τ 1[msec] 0 τ 1000 τ n n = 1000 τ ) α n = 8 n = (a) (b) n = 8 n = (a) (b) Ai i 36
44 (a) (b)
45 (a) (b)
46 [Step 4] Step 3 Step
![[Step 5] [24] 3.15 0[rad] HAL HAL 3.16 (a) (3.](/docs-images/91/105018928/images/47-0.jpg "8) (b) (b) τ = knee mgl 3.8 (a) (b) 3.")
47 [Step 5] [24] [rad] HAL HAL 3.16 (a) (3.8) (b) (b) τ = knee mgl 3.8 (a) (b) 3.16 (a) θ l 40
48 Step 5 Step 4 0[rad] 3.17 (a) (b) (a) (b)
49 [Step 6] 1 Step Step 6 Bezier [25] 3.19 Bezier 3.20 Adjust span 0.5[sec] Start point Bezier 0[rad] 42
50 3.20 Bezier
51 [Step 7] Step 6 1 Phase Phase 1 Phase Step 1 1 Phase 1 Phase Phase (a) (b)
52 3.3 HAL
53
54 4 3 HAL HAL HAL HAL 47
55 4.1 3 PD 3 HAL Human Intention Estimator Phase HAL HAL HAL
56 HAL 3 Phase Step 1 f f r l f r > f l 4.1 ) f r < f l 4.2 )
57 Pitch Roll Yaw Roll 4.3 HAL 4.2 Phase [rad] [rad] [rad] 0.05[rad] Phase Phase [24] 0.07[rad] 0.05[rad] Left 4.3 θ p 50
58 4.4 θ p > θ ) θ p < θ 4.4 ) 51
59 4.3 HAL HAL HAL Phase 3 Step 3 HAL
60 4.5 53
61 1 HAL
62 4.4 PD HAL 55
63 A A A 5.1 A 3 Step 1 Phase 1 Phase 5.1 A Phase 5.2 (a) (b) (c) (d)
64 RightHipAngle[rad] LeftHipAngle[rad] Angle[rad] Time[sec] (a) RightKneeAngle[rad] LeftKneeAngle[rad] Angle[rad] Time[sec] (b) 5.1 A 57
65 5.1 A [sec] 2.279[sec] 1.119[sec] 1.088[sec] 1.208[sec] 1.191[sec] (a) (b) (c) (d) 5.2 A 58
66 A LeftHipAngle[rad] TrackingLeftHipAngleRef RightHipAngle[rad] TrackingRightHipAngleRef Angle [rad] Angle [rad] Time [sec] Time [sec] (a) (b) LeftKneeAngle[rad] LeftKneeAngleRef RightKneeAngle[rad] RightKneeAngleRef Angle [rad] Angle [rad] Time [sec] Time [sec] (c) (d)
67 A A 0.42m 0.45m HAL HAL { l sin θ + l sin( θ ϕ )} { l sinθ + l sin( θ ϕ )} L = 5.1 ) r _ upper r r _ lower r r l _ upper l l _ lower l l 60
68 [m] 0.44[m] 0.41[m] 0.48[m] HAL A 61
69 [22] HAL 1 B B B 1 B 5.5 B
70 (a) (b) (c) (d) 5.5 B 63
71 5.3 B B [cm] [kg] [cm] (Right/Left) 46/45 46/46 [cm] (Right/Left) 42/42 38/ Roll 1 Phase Phase 0 Support Phase 1 Swing Phase 2 Swing Wait Phase 3 Support Wait Phase 4Phase 64
72 B TrackingLeftHipAngleRef LeftHipAngle[rad] TrackingRightHipAngleRef RightHipAngle[rad] Angle [rad] Angle [rad] Time [sec] Time [sec] (a) (b) Angle [rad] TrackingLeftKneeAngleRef LeftKneeAngle[rad] Time [sec] Angle [rad] TrackingRightKneeAngleRef RightKneeAngle[rad] Time [sec] (c) (d)
73 Phase Phase 5.7 Phase 5.7 Phase Phase Phase Phase [rad] Phase Phase 5.7 Phase 66
74 Phase Phase Phase Phase 67
75 5.2.4 Phase HAL HAL B HAL HAL HAL B B B HAL B 5.9 B B 5.9 B HAL 68
76 5.9 B 69
77 5.3 HAL HAL HAL HAL HAL HAL HAL 70
78 6 6.1 HAL HAL 4 5 HAL 71
79 6.2 Phase HAL 72
80 HAL HAL HAL 73
81 [1] ,. [2] Jerry E. Pratt, Benjamin T. Krupp, Christopher J. Morse and Steven H. Collins: The RoboKnee: An Exoskeleton for Enhancing Strength and Endurance During Walking, Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), pp , [3] J. Pratt, B. Krupp and C. Morse: Series elastic actuators for high fidelity force control, Industrial Robot: An International Journal, vol.29, no.3, pp , [4] David C. Johnson, Daniel W. Repperger and Greg Thompson: Development of a mobility assist for the paralyzed, amputee, and spastic patient, Proceedings of the IEEE Southern Biomedical Engineering Conference, pp.67-70, [5] D. Repperger, B. Hill, C. Hasser, M. Roark and C. Phillips: Human tracking studies involving an actively powered augmented exoskeleton, Proceedings of the IEEE Southern Biomedical Conference, pp.28-31, [6] ,. [7] Sukhan Lee, Arvin Agah and George Bekey: IROS: an intelligent rehabilitative orthotic system for cerebrovascular accident, Proceedings of 1990 IEEE International Conference on Systems, Man and Cyberbetics Conference, pp , [8] Gery Colombo, Matthias Joerg, Reinhard Schreier and Volker Dietz: Treadmill training of paraplegic patients using a robotic orthosis, Journal of Rehabilitation Research and Development, vol.37, No.6, pp , 2000 [9] S. Jezernik, G. Colombo and M. Morari: Automatic Gait-Pattern Adaptation Algorithms for Rehabilitation with a 4-DOF Robotic Orthosis, IEEE Transactions on Robotics and Automation, vol.20, No.3, pp , [10] Junpei Okamura, Hiroshi Tanaka, Yoshiyuki Sankai: EMG-based Prototype Powered Assistive System for Walking Aid, Proc. of ASIAR 99, pp , [11] Takao Nakai, Suwoong Lee, Hiroaki Kawamoto and Yoshiyuki Sankai: Development of Powered Assistive Leg for Walking Aid using EMG and Linux, Proc. of ASIAR 2001, pp , [12] : HAL-3,, [13] : HAL-4 Phase Sequence,,
82 [14], : EMG HAL, 39 ME, pp , [15], : EMG HAL, 17 (RSJ1999), pp , [16] Suwoong Lee and Yoshiyuki Sankai: The Natural Frequency-Based Power Assist Control for Lower Body with HAL-3, Proc. of 2003 IEEE International Conference on Systems, Man and Cybernetics, [17] Hiroaki Kawamoto, Shigehiro Kanbe, and Yoshiyuki Sankai: The Natural Frequency-Based Power Assist Control for Lower Body with HAL-3, Proc. of 12th IEEE Workshop on Robot and Human Interactive Communication (ROMAN2003), [18] Hiroaki Kawamoto and Yoshiyuki Sankai: EMG-based Hybrid Assistive Leg for Walking Aid using Feedforward Controller, Proc. of International Conference on Control Automation and System (ICCAS2001), pp , [19] Hiroaki Kawamoto and Yoshiyuki Sankai: Power Assist System HAL-3 for Gait Disorder Person, Proc. of International Conference on Computers Helping People with Special Needs (ICCHP2002), pp , [20] Hiroaki Kawamoto and Yoshiyuki Sankai: Comfortable Power Assist Control Method for Walking Aid by HAL-3, Proc. of International Conference on Systems, Man and Cybernetics (SMC2002), CD-ROM, TP1B4, [21] :,, [22] :,, [23] :,, [24], :,, [25] Seong-Hoon KIM, Haruki IMAI, Yoshiyuki SANKAI: Interactive Task Generation for Humanoid Based on Human Motion Strategy, Proc. of 13th IEEE Workshop on Robot and Human Interactive Communication (ROMAN2004),
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( ) 2006 1 PI 1 1 1.1................................. 1 1.2................................... 1 2 2 2.1...................................... 2 2.1.1.......................... 2 2.1.2..............................
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219 (2004.11.05) 219-4 Development of a 3D Range Sensor Based on Equiphase Light-Section Method KUMAGAI Masaaki * *Tohoku Gakuin University : (Vision sensor), (3-D range sensor), (Light-section method),
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流通科学大学論集 - 経済 情報 政策編 - 第 21 巻第 1 号,23-33(2012) SIRMs SIRMs Fuzzy fuzzyapproximate approximatereasoning reasoningusing using Lukasiewicz Łukasiewicz logical Logical operations Operations Takashi Mitsuishi
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