Yoshikawa Taizo
Honda R&D Co., Ltd., Wako, Japan.
Front Robot AI. 2022 Feb 24;9:757630. doi: 10.3389/frobt.2022.757630. eCollection 2022.
The purpose of this research is to build a technology that enables wearable robotic systems that support human movement to maintain stable balance. By expanding our knowledge of conventional human gait analysis technology and robotics technology, we will build a technology that can estimate the state of human balance. In order to build a technology for estimating the human balance state based on the balance control technology of humanoid robots, we conducted joint research with Osaka University. We applied our knowledge of humanoid robot control to human stepping and braking motions, and confirmed the effectiveness of the balance control model using data measured by a motion capture system and a floor reaction force sensor system. In order to build a technology for estimating the human balance state based on the balance control technology of humanoid robots, we conducted joint research with Osaka University. We applied our knowledge of humanoid robot control to human stepping and braking motions to build a human balance control model. We confirmed the effectiveness of the balance control model using data measured by a motion capture system and a floor reaction force sensor system. In order to understand the state of human walking, the human walking motion was measured by motion capture and analyzed in detail. Following the norms of gait analysis techniques, we extended the balance control model of human foot-stepping and braking motions to a gait model that includes continuous straight-line walking and change of direction during walking. The effectiveness of the constructed balance control model was confirmed using a motion capture system and a floor reaction force sensor system.
本研究的目的是构建一种技术，使支持人类运动的可穿戴机器人系统能够保持稳定的平衡。通过扩展我们对传统人类步态分析技术和机器人技术的了解，我们将构建一种能够估计人类平衡状态的技术。为了基于类人机器人的平衡控制技术构建一种估计人类平衡状态的技术，我们与大阪大学进行了联合研究。我们将类人机器人控制的知识应用于人类的迈步和制动动作，并使用运动捕捉系统和地面反作用力传感器系统测量的数据证实了平衡控制模型的有效性。为了基于类人机器人的平衡控制技术构建一种估计人类平衡状态的技术，我们与大阪大学进行了联合研究。我们将类人机器人控制的知识应用于人类的迈步和制动动作，以构建人类平衡控制模型。我们使用运动捕捉系统和地面反作用力传感器系统测量的数据证实了平衡控制模型的有效性。为了了解人类行走的状态，通过运动捕捉对人类行走运动进行了测量并进行了详细分析。遵循步态分析技术的规范，我们将人类迈步和制动动作的平衡控制模型扩展到了一个步态模型，该模型包括连续直线行走和行走过程中的方向改变。使用运动捕捉系统和地面反作用力传感器系统证实了所构建的平衡控制模型的有效性。
