Fundamental study on evaluation of KEIROKA(fatigue-reduction) technology in using UD shovel for removing snow by Musculo-Skeletal Dynamics Simulator

Nara, Hiroyuki; Tanaka, Takayuki; Imamura, Yumeko; Yoshinari, Satoshi; Nakajima, Yasuhiro; Kaneko, Shun’ichi

doi:10.1109/robio.2011.6181514

Cited by 4 publications

(4 citation statements)

References 4 publications

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“…Its effectiveness pertaining to work with a bending motion that requires a restoring force, such as agricultural work [9], snow removal [10], and horse training [2], was also confirmed. This falls under the concept of KEIROKA (fatigue reduction) assist that we had proposed as part of a Japan Science and Technology Agency project [11]. Through these studies, we had confirmed that there were many periodic motions in those tasks.…”

Section: Introductionmentioning

confidence: 83%

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Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

2017

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This paper describes a skill assist method for sinusoidal motions using a semi-active assist mechanism through an energy control method. In a previous study, we had developed and verified the effectiveness of a power assist device with a semi-active assist mechanism and a control method for reducing loads during periodic motion. Here, we have developed a skill assist method as an extension of our power assist device for periodic motion. The skill of performing sinusoidal motions is defined in this study as an operator's ability to track such motions. Therefore, our skill assist method attempts to improve the operator's tracking ability. The proposed skill assist method is implemented using our previous power assist device; therefore, the device provides not only a power assist effect but also a skill assist effect to correct the motion. Hence, an operator obtains both the power and the skill assist effects simultaneously.

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Section: Introductionmentioning

confidence: 83%

“…In the ψ > π/2 and ψ < −π/2 regions, the effect can be understood as a motion disturbance through Eqs. (10) and (11). When ψ = 0, the controller performs solely as a power assist.…”

Section: Concept Of Skill Assisting During Power Assistingmentioning

confidence: 99%

Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

2017

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“…The operator's force is F h =F h sin(ωt) and the assist force is (6). The total energy of driving the handle is calculated from (1) as follows:…”

Section: Assist Effect Of Pa and Sa In Periodical Motionmentioning

confidence: 99%

“…We have optimized its controls for various forms of target work, and confirmed its effectiveness regarding work with a bending motion that requires a restoring force, such as agricultural work [4], snow removal [5], and horse training [1]. This falls under the concept of keiroka (fatigue reduction), which we have proposed as part of a Japan Science and Technology Agency project [6]. This study treats only simple sinusoidal motion for easily analyzing as a fundamental study.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous realization of power assist and skill assist for sinusoidal motions by using semi-active assist mechanism

Kusaka

Tanaka

2014

2014 Proceedings of the SICE Annual Conference (SICE)

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In recent years, workers decline has become a major problem in the field such as nursing care, welfare and heavy transport work in a factory with hard work. The authors have developed semi-active assist mechanisms and their control methods as wearable power assist devices for fatigue reduction. The mechanisms have elastic material as the source of assist force, and actuators for controlling the elastic force. Elastic materials such as springs retain equilibrium because their material generates the restoring force toward a natural length. This characteristic is effective in assisting movement that requires a restoration of posture, such as bending and stretching of human limbs. We have optimized its controls for various forms of target work, and confirmed its effectiveness regarding work with a bending motion that requires a postural restoring force. Then the purpose of this study is to develop a control method of the semi-active assist mechanisms. Moreover, this study aims the simultaneous realization of power assist and skill assist based on energy control and its application to semi-active assist mechanism. The proposed skill assist method is implemented using our previous power assist device, so the device provides not only a power assist effect but also a skill assist effect to correct motion. Hence, an operator obtains both power and skill assist effects simultaneously. In order to realize power assist and skill assist simultaneously, we develop efficiency control methods between the power assist and the skill assist in this study. Moreover, to apply the semi-active assist mechanism to real-world tasks like rehabilitation, we aim to develop a control method which has effects of both motion correction and fatigue reduction.

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Development on smart suit for dairy work assistance

Nara

Kusaka

Tanaka

et al. 2013

2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA Technology(fatigue-reduction) which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. The authors have developed power assist suits named "smart suit". The authors have evaluated the effect that the purpose of dairy work assistance, to measure EMG of the worker, compared to the potential of the surface of the non-wearing and wearing "smart suit".

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Fundamental study on evaluation of KEIROKA(fatigue-reduction) technology in using UD shovel for removing snow by Musculo-Skeletal Dynamics Simulator

Cited by 4 publications

References 4 publications

Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

Simultaneous realization of power assist and skill assist for sinusoidal motions by using semi-active assist mechanism

Development on smart suit for dairy work assistance

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