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J-GLOBAL ID：201102246448202894   Reference number：11A1454521

Development of Hydrostatic Knee Power Assist Device and Its Control with Sensitivity Maximization

感度関数増大によるアシスト制御を行う静油圧駆動膝用パワーアシストの開発

Author (5)： KAMINAGA HIROSHI (東大) ,  TANAKA HIROKAZU (東大) ,  AMARI TOMOYA (東大) ,  NIWA YAMATO (東大) ,  NAKAMURA YOSHIHIKO (東大)
Material： 日本ロボット学会誌  (ロボ學)
Volume： 29  Issue： 7  Page： 609-618  Publication year： Sep. 15, 2011 
JST Material Number： Y0482A  ISSN： 0289-1824  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： JAPANESE (JA)

Thesaurus term： *organic function helper ,...
Semi thesaurus term： *power assist orthotic-suit

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JST classification (2)： Motion and control of robots  (IC04012J) ,  Prosthesis(=artificial substitutes for body part)  (EL04000N)

Reference (23)：

• [1] B.J. Makinson: Research and Development Prototype for Machine Augmentation of Human Strength and Endurance, Hardiman I Project, Technical Report S-71-106, General Electric Co., 1971.
• [2] T. Hayashi, H. Kawamoto and Y. Sankai: “Control method of robot suit hal working as operator's muscle using biological and dynamical information,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3063–3068, 2005.
• [3] J.E. Pratt, B.T. Krupp, C.J. Morse and S.H. Collins: “The RoboKnee: An Exoskeleton for Enhancing Strength and Endurance During Walking,” Proceedings of the IEEE International Conference on Robotics and Automation, pp.2430–2435, 2004.
• [4] H.K. Kwa, J.H. Noorden, M. Missel, T. Craig, J.E. Pratt and P.D. Neuhaus: “Development of the IHMC Mobility Assist Exoskeleton,” Proceedings of the IEEE International Conference on Robotics and Automation, pp.2556–2562, 2009.
• [5] H. Kazerooni, J.-L. Racine, L. Huang and R. Steger: “On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX),” Proceedings of the IEEE International Conference on Robotics and Automation, pp.4353–4360, 2005.

Terms in the title (6)： 感度関数 ,  アシスト制御 ,  油圧駆動 ,  膝 ,  パワーアシスト ,  開発