{"id":507,"date":"2024-03-13T02:09:42","date_gmt":"2024-03-12T17:09:42","guid":{"rendered":"http:\/\/www.msd.mech.e.titech.ac.jp\/en\/?page_id=507"},"modified":"2024-03-27T11:56:50","modified_gmt":"2024-03-27T02:56:50","slug":"human-powered-robotics-2012","status":"publish","type":"page","link":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/human-powered-robotics-2012\/","title":{"rendered":"Human-powered Robotics (2012~)"},"content":{"rendered":"\n<p><strong>Background<\/strong><\/p>\n\n\n\n<p>\u3000There are a variety of &#8220;human-powered machines&#8221; in the world that operate when humans directly apply power, such as human-powered vehicles like bicycles and wheelchairs, and human-powered mechanical devices such as manual lifts, chain blocks, and hand-wound gondolas.\u00a0The motivation for this &#8220;human-powered robotics&#8221; research is that it would be interesting if we could turn these human-powered machines into robots (while still being driven by humans).<\/p>\n\n\n\n<p><strong>Long-Term Goals<\/strong><\/p>\n\n\n\n<p>Proposal of &#8220;human-powered robotics&#8221;<br>&#8211; New framework concept for human-machine cooperation<br>&#8211; Fundamental technology for intelligent control of human-powered machines<\/p>\n\n\n\n<p><strong>Research Topic<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>A human-machine system that achieves both safe, comfortable, and sustainable human movement and the automation of physical tasks. <\/li>\n\n\n\n<li>A robot-like motion control system (servo control) that directly uses the power applied by the operator through physical movement, including the design of mechanisms, control systems etc.<\/li>\n<\/ul>\n\n\n\n<p><strong>Research Results<\/strong><\/p>\n\n\n\n<p><strong>Human-powered joint mechanism&nbsp;<\/strong><strong>KMR72&nbsp;<\/strong><strong>(&nbsp;<\/strong><strong>Sugahara, ROMANSY2016&nbsp;<\/strong><strong>)<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Uses the force of a person turning a steering wheel as a power source<\/li>\n\n\n\n<li>Controls the transmitted torque using two powder clutches, one for forward rotation and one for reverse rotation.<\/li>\n\n\n\n<li>Joint angle control using calculated torque method<\/li>\n\n\n\n<li>Realizes servo control of the output shaft angle using human power.<\/li>\n<\/ul>\n\n\n\n<p>KMR72: One-DOF prototype of Human-Powered Robotics<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"KMR72: One-DOF prototype of Human-Powered Robotics\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/WD6YEq2zurw?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><br><strong>Human-powered personal mobility KMM74 (Sugahara, et al., ROMANSY2018)<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Uses the force input by the rider through the pedals as a power source<\/li>\n\n\n\n<li>Structure using powder clutch like KMR72<\/li>\n\n\n\n<li>Joint angle control using calculated torque method<\/li>\n\n\n\n<li>Servo control of the wheel angle by human power, realizing forward and backward movement, turning, and super turning.<\/li>\n\n\n\n<li>Succeeded in maintaining an inverted state (for a few seconds) using an inverted pendulum type posture control<\/li>\n<\/ul>\n\n\n\n<p>KMM73: Prototype of the Human-Powered Robotic Personal Mobility<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"KMM73: Prototype of the Human-Powered Robotic Personal Mobility\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/-aMqTVpsKOU?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"KMM73: Prototype of the Human-Powered Robotic Personal Mobility\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/SL-PxhUOvyk?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>KMM74: Human-Powered Robotic Personal Mobility Vehicle Prototype<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"KMM74: Human-Powered Robotic Personal Mobility Vehicle Prototype\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/Wd8QLWSqQZo?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"KMM74: Human-Powered Robotic Personal Mobility Vehicle Prototype\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/wvzQs7dgt0I?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><br><strong>Human joint drive mechanism THR75 (Sugahara, et al., IROS2017)<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Structure using a regenerative servo clutch (a mechanism that combines regenerative brakes and differential gears) with a smaller time constant and better control performance than commercially available powder clutches.<\/li>\n\n\n\n<li>Like the KMR72, servo control of the output shaft angle is realized by human power.<\/li>\n\n\n\n<li>Charging using regenerative energy is also possible.<\/li>\n<\/ul>\n\n\n\n<p>THR75: Human-Powered Joint Drive Mechanism Using Regenerative Clutches<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"THR75: Human-Powered Joint Drive Mechanism Using Regenerative Clutches 1\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/q7XzoKMjvKY?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"THR75: Human-Powered Joint Drive Mechanism Using Regenerative Clutches 2\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/GD9No1iERhA?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><strong>Literature<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Yusuke Sugahara, Kohei Tsukamoto, Mitsuru Endo, Jun Okamoto, Daisuke Matsuura and Yukio Takeda, A Multi\u2010DOF Human\u2010Powered Robot Using Regenerative Clutches and Constant\u2010Force Springs, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS2019), Macau,China, pp. 4593\u20104599, November, 2019.<\/li>\n\n\n\n<li>Yusuke Sugahara, Hayato Akiyama, Jeremy Jong, Mitsuru Endo and Jun Okamoto, Design and Control of a Human\u2010Powered Robotic Personal Mobility Vehicle Prototype, Proceedings of the 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY22), Rennes, France, pp. 256\u2010263, June 25\u201028, 2018.<\/li>\n\n\n\n<li>Yusuke Sugahara, Kensuke Kikui, Mitsuru Endo, Jun Okamoto, Daisuke Matsuura and Yukio Takeda, A Human\u2010Powered Joint Drive Mechanism Using Regenerative Clutches, Proceedings of the 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS2017), pp. 6337\u20106342, Vancouver, Canada, September 24\u201328, 2017.<\/li>\n\n\n\n<li>Yusuke Sugawara, Proposal of human-powered robotics, Journal of the Biomechanism Society, Vol. 41, No. 2, pp. 73-78, May 2017.<\/li>\n\n\n\n<li>Yusuke Sugahara, Human\u2010Powered Robotics \u2013 Concept and One\u2010DOF Prototype, Proceedings of the 21st CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2016), Udine, Italy, pp. 191\u2010198, June 20\u201023, 2016.<\/li>\n<\/ul>\n\n\n\n<p><strong>Acknowledgment<\/strong><\/p>\n\n\n\n<p>This research has received the following support:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>JKA Public Interest Incorporated Foundation 2013 research grant \u201cProposal and basic technology development of human-powered robotics\u201d (2013)<\/li>\n\n\n\n<li>JKA Public Interest Incorporated Foundation 2014 Research Grant \u201cNew Developments in Human-Powered Robotics\u201d (2014)<\/li>\n\n\n\n<li>JKA&nbsp;Public Interest Incorporated Foundation&nbsp;2015 Research Grant \u201cDevelopment&nbsp;of&nbsp;Socially Integrated Human Powered Robotics Technology\u201d&nbsp;(2015-2016)<\/li>\n\n\n\n<li>Japan Society for the Promotion of Science Grant-in-Aid for Scientific Research (C), \u201cHuman-powered robotics \u2013 Fundamental technology and development for robotization of human-powered machines\u201d (2017-2020)<\/li>\n<\/ul>\n\n\n\n<p>This research is a joint research with Dr. Mitsuru Endo (Tstsui Endo Laboratory) and Dr. Jun Okamoto (Tokyo Women&#8217;s Medical University).<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Background \u3000There are a variety of &#8220;human-powered machines&#8221; in the world that operate when humans directly apply power, such as human-powered vehicles like bicycles and wheelchairs, and human-powered mechanical devices such as manual lifts, chain blocks, and hand-wound gondolas.\u00a0The motivation for this &#8220;human-powered robotics&#8221; research is that it would be interesting if we could turn [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-507","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/pages\/507","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/comments?post=507"}],"version-history":[{"count":5,"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/pages\/507\/revisions"}],"predecessor-version":[{"id":596,"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/pages\/507\/revisions\/596"}],"wp:attachment":[{"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/media?parent=507"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}