{"id":340,"date":"2024-02-21T11:55:39","date_gmt":"2024-02-21T02:55:39","guid":{"rendered":"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/?page_id=340"},"modified":"2024-02-21T12:03:44","modified_gmt":"2024-02-21T03:03:44","slug":"%e4%ba%ba%e5%8a%9b%e3%83%ad%e3%83%9c%e3%83%86%e3%82%a3%e3%82%af%e3%82%b9%ef%bc%88human-powered-robotics%ef%bc%8c2012%ef%bd%9e%ef%bc%89","status":"publish","type":"page","link":"https:\/\/www.msd.mech.eng.isct.ac.jp\/jp\/%e4%ba%ba%e5%8a%9b%e3%83%ad%e3%83%9c%e3%83%86%e3%82%a3%e3%82%af%e3%82%b9%ef%bc%88human-powered-robotics%ef%bc%8c2012%ef%bd%9e%ef%bc%89\/","title":{"rendered":"\u4eba\u529b\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\uff08Human-Powered Robotics\uff0c2012\uff5e\uff09"},"content":{"rendered":"\n<p class=\"has-large-font-size wp-block-paragraph\"><strong>\u80cc\u666f<\/strong><strong><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3000\u81ea\u8ee2\u8eca\uff0c\u8eca\u3044\u3059\u306a\u3069\u306e\u4eba\u529b\u8eca\u4e21\u3084\uff0c\u624b\u52d5\u30ea\u30d5\u30c8\uff0c\u30c1\u30a7\u30fc\u30f3\u30d6\u30ed\u30c3\u30af\uff0c\u624b\u5dfb\u304d\u5f0f\u30b4\u30f3\u30c9\u30e9\u306a\u3069\u306e\u4eba\u529b\u6a5f\u68b0\u88c5\u7f6e\u306a\u3069\uff0c\u4eba\u9593\u304c\u76f4\u63a5\u52d5\u529b\u3092\u4e0e\u3048\u308b\u3053\u3068\u3067\u52d5\u4f5c\u3059\u308b\u300c\u4eba\u529b\u6a5f\u68b0\u300d\u306f\u4e16\u306e\u4e2d\u306b\u3044\u308d\u3044\u308d\u3042\u308a\u307e\u3059\uff0e\u3053\u3046\u3044\u3063\u305f\u4eba\u529b\u6a5f\u68b0\u3092\uff08\u4eba\u529b\u99c6\u52d5\u306e\u307e\u307e\uff09\u30ed\u30dc\u30c3\u30c8\u5316\u3067\u304d\u308c\u3070\u9762\u767d\u3044\u306e\u3067\u306f\u306a\u3044\u304b\uff0c\u3068\u3044\u3046\u306e\u304c\uff0c\u3053\u306e\u300c\u4eba\u529b\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u300d\u7814\u7a76\u306e\u30e2\u30c1\u30d9\u30fc\u30b7\u30e7\u30f3\u3067\u3059\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size wp-block-paragraph\"><strong>\u9577\u671f\u7684\u76ee\u6a19<\/strong><strong><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u300c\u4eba\u529b\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u300d\u306e\u63d0\u6848<br>\u30fb\u4eba\u9593\u6a5f\u68b0\u5354\u8abf\u306e\u65b0\u305f\u306a\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u306e\u30b3\u30f3\u30bb\u30d7\u30c8<br>\u30fb\u4eba\u529b\u6a5f\u68b0\u306e\u77e5\u7684\u5236\u5fa1\u306e\u305f\u3081\u306e\u57fa\u76e4\u6280\u8853<\/p>\n\n\n\n<p class=\"has-large-font-size wp-block-paragraph\"><strong>\u7814\u7a76\u8ab2\u984c<\/strong><strong><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30fb\u5b89\u5168\u30fb\u5feb\u9069\u30fb\u6301\u7d9a\u53ef\u80fd\u306a\u4eba\u9593\u306e\u904b\u52d5\u3068\uff0c\u7269\u7406\u7684\u4f5c\u696d\u306e\u81ea\u52d5\u5316\u3092\u4e21\u7acb\u3059\u308b\u4eba\u9593\u6a5f\u68b0\u30b7\u30b9\u30c6\u30e0<br>\u30fb\u64cd\u4f5c\u8005\u304c\u8eab\u4f53\u7684\u904b\u52d5\u306b\u3088\u308a\u52a0\u3048\u308b\u52d5\u529b\u3092\u76f4\u63a5\u7528\u3044\u306a\u304c\u3089\uff0c\u30ed\u30dc\u30c3\u30c8\u3068\u3057\u3066\u306e\u904b\u52d5\u5236\u5fa1\uff08\u30b5\u30fc\u30dc\u5236\u5fa1\uff09\u3092\u53ef\u80fd\u306b\u3059\u308b\u6a5f\u69cb\u30fb\u5236\u5fa1\u7cfb<br>\u30fb\u306a\u3069\u306a\u3069\uff0e\uff0e\uff0e<\/p>\n\n\n\n<p class=\"has-large-font-size wp-block-paragraph\"><strong>\u7814\u7a76\u6210\u679c<\/strong><strong><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4eba\u529b\u99c6\u52d5\u95a2\u7bc0\u6a5f\u69cb<\/strong><strong>KMR72<\/strong><strong>\uff08<\/strong><strong>Sugahara, ROMANSY2016<\/strong><strong>\uff09<\/strong><strong><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4eba\u9593\u304c\u30cf\u30f3\u30c9\u30eb\u3092\u56de\u3059\u529b\u3092\u52d5\u529b\u6e90\u3068\u3057\u3066\u5229\u7528<\/li>\n\n\n\n<li>\u6b63\u8ee2\u7528\u30fb\u9006\u8ee2\u7528\u306e2\u53f0\u306e\u30d1\u30a6\u30c0\u30af\u30e9\u30c3\u30c1\u3092\u7528\u3044\uff0c\u4f1d\u9054\u30c8\u30eb\u30af\u3092\u5236\u5fa1<\/li>\n\n\n\n<li>\u8a08\u7b97\u30c8\u30eb\u30af\u6cd5\u3092\u7528\u3044\u305f\u95a2\u7bc0\u89d2\u5236\u5fa1<\/li>\n\n\n\n<li>\u4eba\u529b\u99c6\u52d5\u306b\u3088\u308b\u51fa\u529b\u8ef8\u89d2\u5ea6\u306e\u30b5\u30fc\u30dc\u5236\u5fa1\u3092\u5b9f\u73fe<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">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 class=\"wp-block-paragraph\"><br><strong>\u4eba\u529b\u30d1\u30fc\u30bd\u30ca\u30eb\u30e2\u30d3\u30ea\u30c6\u30a3KMM74\uff08Sugahara, et al., ROMANSY2018\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u642d\u4e57\u8005\u304c\u30da\u30c0\u30eb\u306b\u3088\u308a\u5165\u529b\u3059\u308b\u529b\u3092\u52d5\u529b\u6e90\u3068\u3057\u3066\u5229\u7528<\/li>\n\n\n\n<li>KMR72\u3068\u540c\u69d8\u306b\u30d1\u30a6\u30c0\u30af\u30e9\u30c3\u30c1\u3092\u7528\u3044\u305f\u69cb\u9020<\/li>\n\n\n\n<li>\u8a08\u7b97\u30c8\u30eb\u30af\u6cd5\u3092\u7528\u3044\u305f\u95a2\u7bc0\u89d2\u5236\u5fa1<\/li>\n\n\n\n<li>\u4eba\u529b\u99c6\u52d5\u306b\u3088\u308b\u8eca\u8f2a\u89d2\u5ea6\u306e\u30b5\u30fc\u30dc\u5236\u5fa1\uff0c\u3053\u308c\u3092\u7528\u3044\u305f\u524d\u5f8c\u9032\u30fb\u65cb\u56de\u30fb\u8d85\u4fe1\u5730\u65cb\u56de\u3092\u5b9f\u73fe<\/li>\n\n\n\n<li>\u5012\u7acb\u632f\u5b50\u5f0f\u306e\u59ff\u52e2\u5236\u5fa1\u306b\u3088\u308b\u5012\u7acb\u72b6\u614b\u306e\u7dad\u6301\uff08\u6570\u79d2\uff09\u306b\u6210\u529f<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">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?start=3&#038;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 class=\"wp-block-paragraph\">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 class=\"wp-block-paragraph\"><br><strong>\u4eba\u529b\u95a2\u7bc0\u99c6\u52d5\u6a5f\u69cbTHR75\uff08Sugahara, et al., IROS2017\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5e02\u8ca9\u306e\u30d1\u30a6\u30c0\u30af\u30e9\u30c3\u30c1\u3088\u308a\u6642\u5b9a\u6570\u304c\u5c0f\u3055\u304f\u826f\u597d\u306a\u5236\u5fa1\u6027\u80fd\u3092\u6301\u3064\uff0c\u56de\u751f\u30b5\u30fc\u30dc\u30af\u30e9\u30c3\u30c1\uff08\u56de\u751f\u30d6\u30ec\u30fc\u30ad\u3068\u5dee\u52d5\u6b6f\u8eca\u3092\u7d44\u307f\u5408\u308f\u305b\u305f\u6a5f\u69cb\uff09\u3092\u7528\u3044\u305f\u69cb\u9020<\/li>\n\n\n\n<li>KMR72\u3068\u540c\u69d8\u306b\uff0c\u4eba\u529b\u99c6\u52d5\u306b\u3088\u308b\u51fa\u529b\u8ef8\u89d2\u5ea6\u306e\u30b5\u30fc\u30dc\u5236\u5fa1\u3092\u5b9f\u73fe<\/li>\n\n\n\n<li>\u56de\u751f\u30a8\u30cd\u30eb\u30ae\u306b\u3088\u308b\u5145\u96fb\u3082\u53ef\u80fd<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">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 class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6587\u732e<\/strong><strong><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\" start=\"1\">\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>\u83c5\u539f\u96c4\u4ecb\uff0c\u4eba\u529b\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u63d0\u6848\uff0c\u30d0\u30a4\u30aa\u30e1\u30ab\u30cb\u30ba\u30e0\u5b66\u4f1a\u8a8c\uff0cVol. 41\uff0cNo. 2\uff0cpp. 73\u201078\uff0c2017\u5e745\u6708\uff0e<\/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 class=\"wp-block-paragraph\"><strong>\u8b1d\u8f9e<\/strong><strong><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u7814\u7a76\u306b\u969b\u3057\u4ee5\u4e0b\u306e\u88dc\u52a9\u3092\u53d7\u3051\u3066\u3044\u307e\u3059\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA\u5e73\u621025\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u201c\u4eba\u529b\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u63d0\u6848\u3068\u57fa\u790e\u6280\u8853\u958b\u767a\u201d\uff082013\uff09<\/li>\n\n\n\n<li>\u516c\u76ca\u8ca1\u56e3\u6cd5\u4ebaJKA\u5e73\u621026\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u201c\u4eba\u529b\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u65b0\u5c55\u958b\u201d\uff082014\uff09<\/li>\n\n\n\n<li><a href=\"http:\/\/www.msd.mech.e.titech.ac.jp\/jp\/static.php?page=JKA27-123\"><strong>\u516c\u76ca\u8ca1\u56e3\u6cd5\u4eba<\/strong><strong>JKA<\/strong><strong>\u5e73\u6210<\/strong><strong>27<\/strong><strong>\u5e74\u5ea6\u7814\u7a76\u88dc\u52a9\u300c\u4eba\u529b\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u793e\u4f1a\u7d71\u5408\u6280\u8853\u958b\u767a\u300d<\/strong><\/a>\uff082015-2016\uff09<\/li>\n\n\n\n<li>\u65e5\u672c\u5b66\u8853\u632f\u8208\u4f1a\u79d1\u7814\u8cbb\u57fa\u76e4\u7814\u7a76\uff08C\uff09\uff0c\u300c\u4eba\u529b\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u2015\u4eba\u529b\u6a5f\u68b0\u306e\u30ed\u30dc\u30c3\u30c8\u5316\u306e\u305f\u3081\u306e\u57fa\u76e4\u6280\u8853\u3068\u5c55\u958b\u300d\uff082017-2020\uff09<\/li>\n<\/ul>\n\n\n\n<p 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