介助者の自律駆動規範モデルを用いた介助用車いすの補助動力制御

関西大

パワーアシスト車椅子のモーションコントロールとその実用化 : 安全性・移動性・便宜性向上のための人間親和型制御システム

学位の種別: 課程博士審査委員会委員 : (主査)東京大学教授 堀 洋一, 東京大学教授 池内 克史, 東京大学教授 大崎 博之, 東京大学教授 古関 隆章, 東京大学准教授 馬場 旬平, 東京大学准教授 藤本 博志University of Tokyo(東京大学

Feedback control of cycling in spinal cord injury using functional electrical stimulation

This thesis is concerned with the realisation of leg cycling by means of FES in SCI individuals with complete paraplegia. FES lower-limb cycling can be safely performed by paraplegics on static ergometers or recumbent tricycles. In this work, different FES cycling systems were developed for clinical and home use. Two design approaches have been followed. The first is based on the adaptation of commercially available recumbent tricycles. This results in devices which can be used as static trainers or for mobile cycling. The second design approach utilises a commercially available motorised ergometer which can be operated while sitting in a wheelchair. The developed FES cycling systems can be operated in isotonic (constant cycling resistance) or isokinetic mode (constant cadence) when used as static trainers. This represents a novelty compared to existing FES cycling systems. In order to realise isokinetic cycling, an electric motor is needed to assist or resist the cycling movement to maintain a constant cadence. Repetitive control technology is applied to the motor in this context to virtually eliminate disturbance caused by the FES activated musculature which are periodic with respect to the cadence. Furthermore, new methods for feedback control of the patient’s work rate have been introduced. A one year pilot study on FES cycling with paraplegic subjects has been carried out. Effective indoor cycling on a trainer setup could be achieved for long periods up to an hour, and mobile outdoor cycling was performed over useful distances. Power output of FES cycling was in the range of 15 to 20 W for two of the three subjects at the end of the pilot study. A muscle strengthening programme was carried out prior and concurrent to the FES cycling. Feedback control of FES assisted weight lifting exercises by quadriceps stimulation has been studied in this context

Elektrikli tekerlekli sandalyenin ayrık-zaman optimal kontrolü

06.03.2018 tarihli ve 30352 sayılı Resmi Gazetede yayımlanan “Yükseköğretim Kanunu İle Bazı Kanun Ve Kanun Hükmünde Kararnamelerde Değişiklik Yapılması Hakkında Kanun” ile 18.06.2018 tarihli “Lisansüstü Tezlerin Elektronik Ortamda Toplanması, Düzenlenmesi ve Erişime Açılmasına İlişkin Yönerge” gereğince tam metin erişime açılmıştır.Anahtar kelimeler: Elektrikli Tekerlekli Sandalye (ETS), Açısal Hız, Bozucu, Gözlemci, Model Öngörülü Kontrol (MÖK), Bozucu Gözleyici Destekli Model Öngörülü Kontrol (BGDMÖK) Elektrikli tekerlekli sandalye (ETS) engelli kişilerce kullanılan hareketlilik yardımcısı cihazlardır. Bağımsız hareket etmesi gereken veya el ile tekerlekli sandalye kullanamayan insanlar için ETS yararlıdır ve gereklidir. Tekerlekli sandalyede hız kontrol edilecek en önemli unsurdur. ETS sürüşü sırasında ortaya çıkan belirsiz çevre etkileri veya bozucuları ETS hız kontrolünün temel problemidir. Bu tez çalışmasında, çok giriş çok çıkışlı ve kublajlı olan ETS'nin sağ tekerlek ve sol tekerlek açısal hızlarını bir birinden bağımsız olarak kontrol etmek ve bozucu etkisini ortadan kaldırmak için kontrol yöntemleri önerilmiş ve tasarımları yapılmıştır. ETS'nin enerji denklemleri yazılır ve bu denklemlerden ayrık-zaman durum denklemleri doğrudan elde edilerek ETS modellenir. Durum uzay modeli kullanılarak Luenberger gözleyici sağ tekerlek ve sol tekerlek DC motor akımlarını ve hızlarını kestirmek için tasarlanır. ETS’nin hız kontrolönü yapmak üzere ayrık-zaman optimal Model Öngörülü Kontrol (MÖK) ve bozucu etkisini ortadan kaldırmak için Bozucu Gözleyici Destekli Model Öngörülü Kontrol (BGDMÖK) önerileri yapılır ve ETS nin ayrık-zaman durum uzay modeli kullanılarak tasarım yapılır. ETS’nin elde edilen ayrık zaman durum uzay model doğrulaması, ETS’nin sağ ve sol teker hızlarının bozucu etkiler altında bağımsız kontrölü için önerilen MÖK ve BGDMÖK yöntemlerinin performans değerlendirmeleri ve karşılaştırmaları benzetim çalışmaları ile verilmektedir. DISCRETE TIME OPTIMAL CONTROL OF ELECTRIC POWERED WHEELCHAIR (EPW)Keywords: Electric Powered Wheelchair (EPW), angular velocity, disturbance, observer, Model Predictive Control (MPC), Disturbance Observer Support to Model Predictive Control (DOSMPC) Electric powered wheelchair (EPW) is the mobility assistive device used by disabled persons. EPW is useful and necessary for people who are not able to use a manual wheelchair or for people who must move independently. The velocity of wheelchair is the important aspect to be controlled. The uncertain environmental effects or disturbances occuring during the EPW driving is the major problem of EPW velocity control. In this thesis, control methods have been proposed and implemented to eliminate the disturbance effect and to independently control the right and left wheel angular velocities of EPW that is a coupled and multi-input multi-output system. The energy equations are written and EPW is modeled by obtaining the discrete time state equations from the energy equations directly. By using state space model, the Luenberger observer is designed to estimate DC motor currents and velocities of right and left wheels. Discrete time optimal Model Predictive Control (MPC) for velocity control of EPW and Disturbance Observer Supported Model Predictive Control (DOSMPC) for eliminating disturbance effect are proposed and state space model of EPW is used in design. The discrete time state space model verification of the EPW is done by providing simulation results giving performance evaluation and comparison of MPC and DOSMPC methods proposed for independent velocity control of right and left wheels of ETS in the presence disturbance effect

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

Development of a new elastic path controller for the collaborative wheelchair assistant

Ph.DDOCTOR OF PHILOSOPH

Sliding mode control applied in trajectory-tracking of WMRs and autonomous vehicles

Tese de doutoramento apresentada à Fac. de Ciências e Tecnologia da Universidade de CoimbraThe thesis is structured as follows: • Chapter 2: Trajectory tracking problems are summarized. • Chapter 3: Kinematic and dynamic modeling of theWMRs and car-like robots are presented. • Chapter 4: The concept of sliding mode are first introduced. Then the fundamentals of SMC are summarized, including basic definitions, methods of sliding surface and control law design, robustness properties and the methods on handling chattering problems. New sliding-mode trajectory-tracking and slidingmode path-following controllers for WMRs and car-like vehicles, are also proposed in this chapter. • Chapter 5: The trajectory/path planning are developed, including the velocity profile. • Chapter 6: A model with two freedom degrees is considered for the HNC model. The user comfort is examined not only in the time domain, but also in the frequency domain. • Chapter 7: Experimental results obtained with the implementation of the proposed controllers in RobChair are summarized and discussed. • Chapter 8: Finally, conclusions are drawn and some suggestions for future work are provided

A Novel User-Controlled Assisted Standing Control System for a Hybrid Neuroprosthesis

Spinal cord injury (SCI) is a serious condition with 17,000 new cases each year and an estimated total of 282,000 people in the United States who have SCI. Some people with SCI who have paraplegia suffer from paralysis, muscle spasticity, bone changes, chronic pain and other problems. Active orthoses such as the ReWalk, EXPOS, and Ekso have improved the quality of life of people with SCI. The hybrid neuroprosthesis is an active orthosis that uses functional electrical stimulation (FES) at the quadriceps and has two main purposes: restoring mobility in people with SCI and providing physical therapy for the user outside of a clinical setting. To mobilize people with SCI, the neuroprosthesis must provide assisted movement for a sitting to standing motion. A standing control system developed by the Pitt Neuromuscular Control and Robotics Laboratory (NCRL) before this proposed system did not give enough control of the movement to the user and FES alone did not provide enough torque at the knees for standing. The NCRL neuroprosthesis was modified to include a harmonic gearmotor at the knees, a thumb joystick for user control, and a force sensing walker. A control system using a finite state machine (FSM) was designed to perform hybrid standing in the neuroprosthesis. The FSM is divided into 3 states and uses 5 separate controllers: a tracking controller for forward leaning during sitting, a tracking controller to synchronize the knees, a tracking controller to lock the knees during standing, a hip tracking controller, and openloop FES. Four experiments were performed on subjects to analyze control performance, power usage, and energy consumption during motors only and hybrid standing. A subject with SCI successfully performed several trials of hybrid standing. The controllers performed sufficiently accurately, and several minor control problems were fixed. The highest average energy consumption at the knee motors was 88.4 joules during experiment 1. The hybrid standing experiment demonstrated a modest energy reduction of 15% in a subject with SCI. The hybrid standing demonstrated a high energy reduction of 74% in the right knee in experiment 2, through hybrid actuation and a slower standing speed

The Development of an Antagonistic SMA Actuation Technology for the Active Cancellation of Human Tremor.

Human Tremor is an unintentional bodily motion that affects muscle control among both healthy individuals and those with movement disorders, occasionally to severe detriment. While assistive devices avoid the risk of side effects from pharmacological or surgical treatments, most devices are impractical for daily use due to limitations inherent in conventional actuators. The goal of this research is to address these limitations by developing an antagonistic Shape Memory Alloy (SMA) actuation technology, enabling a new class of active tremor cancellation devices. This is accomplished through the construction of a model and body of empirical support that provides the necessary design insight and predictive power for an antagonistic actuator that ensures stable amplitude and high frequency motion with low power draw. Actuation frequency and power draw were improved while balancing their competing effects through the development of: 1) a method that accurately measures the convective coefficient of SMA to enhance actuator design, 2) a growth process for carbon nanotube cooling fins to enhance cooling in a fixed medium, and 3) an understanding of the antagonistic architecture to produce increased frequency in a controllable manner. To enable applications requiring predictability for positioning and complex control, a thermodynamic model for antagonistic SMA was derived to account for inertial, slack, boiling, friction, and convective effects. Using the model, a series of simulation studies provided design insight on the effect of operating environment, driving signal, and environmental conditions so that the generic actuation system can be utilized in a wide variety of applications beyond tremor cancellation. If high forces are required in such applications, stability issues can arise, which were addressed in experimental shakedown research that broadens the high-stress SMA design space. The technology enabled by this dissertation was demonstrated in a working Active Cancellation of Tremor (ACT) prototype that produced 71% RMS cancellation of human tremor. The cancellation results show significant improvement over the current state of the art by providing intuitive, lightweight, compact hand-held tremor cancellation that is a promising solution to numerous assistive applications in medical, military, and manufacturing sectors.Ph.D.Mechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/76010/1/apathak_1.pd