上肢障害者用食事支援ロボットに関する研究

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(1)Research on Meal Assistance Robot for Upper Limb Disabilities. 2017. 3.

(2) 1. .................................................................................................................. 1. 1.1. .............................................................................................................. 1. 1.2. ...................................................................................................... 3. 1.3. .............................................................................................................. 7. 1.4. .............................................................................................................. 9. 2. ........................................................................................ 10. 2.1. .....................................................11. 2.2. ........................................................................ 17. 2.3. .................................................................................................... 23. 2.4. .................................................................................................... 25. 2.5. .................................................... 28. 2.5.1. ............................................................................................. 29. 2.5.2. ................................................................. 31. 3. ........................................................................ 36 ................................................................................................ 36. 3.1 3.1.1. ..................................................................................................... 36. 3.1.2. ..................................................................... 41. 3.2. .................................................................... 42. 3.3. ............................................................................................................ 43. 3.3.1. Haar-like. ......................................................................................... 43. 3.3.2. Haar-like. ............................................................. 45. 3.4. ............................................................ 48. 3.4.1. ....................................................................................... 49. 3.4.2. ............................................................... 52. 3.4.3. ................................................................................................... 53.

(3) 3.5. .................................................................................................... 54. 3.5.1. ................................................................................................... 54. 3.5.2. ................................................................................................... 55. 3.5.3. ........................................................................................................... 55. 4 4.1. ........................................................................ 57 ........................................................................................ 57. 4.1.1. ..................................................................................................... 57. 4.1.2. ..................................................................... 61. 4.2. .................................................................... 61. 4.2.1. ................................................................. 62. 4.2.2. ................................................................. 63. 4.2.3. ............................................. 64. 4.2.4. ..................................................................................................... 65. 4.3. .................................................................................................... 66. 4.3.1. ..................................................................................................... 66. 4.3.2. ..................................................................................................... 67. 4.3.3. ............................................................................................................. 67. 5. ................................................................................................................ 69 ........................................................................................................................ 71.

(4) 1. 1.1 5. [1][2] 1.1. 1.1 23 171. 386 44 %. 4500 4000 3500 3000 2500 2000 1500 1000 500 0. 1.1.

(5) [3]. 1. 2. 1. 2. 1 a. b. 2 a. b. c.. 2. 1. d.. 1. 2. 42. [2].

(6) 1.2. MARo[4][5][6]. [7] [8] [9] [10][11][12]. HANDY1[13][14][15] [18][19][20]. HANDY1 HANDY1. Rehab Robotics 1.2. iARM[16][17].

(7) (a) HANDY1. (b) 1.2. HANDY1. 1. 1. 1.2. iARM iARM. Exact Dynamics 1.3.

(8) (a) iARM. (b) 1.3. 1.4. iARM. 2.

(9) (a). (b) 1.4. 4 3. 9. 2. 2. 1. 3 1.

(10) [21] Handy1. 1.3 3. 1.1. iARM. 1.1 HANDY1. iARM.

(11) HANDY1.

(12) 1.4 2. 3. 2. 4. 2. 5.

(13) 2. [22][23][24].

(14) 1. 2 3. 4. 5. 3. 4. 2.1 2.1 4 Pusher. Plate Spoon 2.1. Shutter Pusher. Plate. Shutter Spoon. 2.2. Plate Spoon Pusher. Shutter.

(15) Shutter. Pusher. Plate. z x. Spoon. y. 2.1. 2.1 3 Plate. x. Pusher. y. Shutter. z. Spoon. y. ×5 Plate. Pusher Pusher.

(16) 2.2.

(17) Spoon. Spoon. Spoon.

(18) 2.5. 2.3. Plate. LED. Plate. Plate. LED LED Plate Plate. LED. LED LED. LED. 2.3. Plate. LED. 3.

(19) 3 4. 2.2. 2. 2.2.

(20) 2.2. Handy1 2.4. 3. 4. 2.5 Plate Plate. Shutter. Spoon. Spoon. 4 2.6. (a) Plate Plate. 2.4. Plate. Pusher LED. Shutter. Spoon.

(21) START ON. (a). Plate Spoon. (a). Shutter Pusher. LED. (a). (d). Shutter. (e). Pusher. Spoon. (b). Plate. (f). (c). Pusher. (g). NO YES END. 2.5. LED. (b) Plate Plate Plate. 2.6.

(22) (c) Pusher Pusher (d) Shutter Shutter. Plate. (e) Pusher Pusher. Spoon. (f) Spoon. (g) (f). Spoon. Plate Pusher. Shutter (h). (a). Plate 1 Shutter. Plate. Plate. 3. ×5. (c). 2.

(23) z. x y. 2.6 (a). z. Plate x y. 2.6 (b) Plate.

(24) z. x y Pusher. 2.6 (c) Pusher. z. x y. 2.6 (d) Shutter. Shutter.

(25) z. x y Pusher. 2.6 (e) Pusher. z. x y Spoon. 2.6 (f).

(26) z. Shutter Pusher. Plate. x y. 2.6 (g). 2.3. CPU PIC. Peripheral Interface Controller. 2.7 3. Plate. Plate PIC. RS232C.

(27) LED. Plate. Pusher. Spoon. Shutter. 2.7. LED LED 2.2. LED. I2C. Plate. Plate. Spoon. Plate. Pusher. HG37-60-AA-00 2.1 Plate Spoon. Pusher.

(28) TA7291P. 2. 1. 0. 4 01. 10. 00 11. BOURNS. 3590S-A26-103L. 3. Shutter. GWS. /STD/F 0.1 0. Shutter. 2.4. 180. 2.0 ms. GWSMICRO.

(29) 7. 42 2.3. 29. 4. 1. 2 38. 2.5.

(30) 2.3. 4 3 2 2 4 2 1 8 6 4 3 2. 3 2 3 5 6 11 6 6 6 6 6 15. 15. 15. 29 3 4. 2 4 2. 3 8 2 10. 2 2 3. 7 1. 4. 2.4. 2.5.

(31) 2.5. [22]. [25] [26]. [27]. 2.

(32) 2.5.1 2.7 USR30-S3. D6030 2.8 20kHz. [28][29]. 2.8.

(33) (a) (b) (c) (d) (e) a.

(34) (f) (g) (h) 3. 2.5.2 [30]. h PID. f g. PID. PID. PID PID. Neural Network. NN. PSO Particle PID. Swarm Optimization PSO. r(k). +. NN. NN. e(k). PID. GPID (z-1). 2.9. PID. u(k). y(k).

(35) PID. 2.9. r(k). e(k). y(k). u(k). PID. (2-1). z. PID. (2-2). PSO. NN. PID. PID. 2.10. NN 2.11. e(k 2)]. NN. NN PID. [e(k) e(k 1) KP(k). PID. NN. KI(k). KD(k)] Hj(k). (2-3) (2-4). (2-5) 3. PSO.

(36) r(k). +. e(k). u(k). PID. z-1. y(k). PSO-NN. z-2. 2.10. PSO. i. NN. PID. j. wij (k). wjm (k). m. e(k). KP (k). e(k-1). KI (k). e(k-2). KD (k) Ii (k) Hj (k). 2.11. NN. PSO [31]. NN. n. (2-6). [0, 1].

(37) (2-7) 1+. c2. 4. PID. (2-8). u(k). (2-1). (2-8) (2-9). PID. r(k). +45. -45. 2 10. -1 fitness. PSO. 1. e(k) NN (2-10). 2.12 2.13. PID PID.

(38) r(k) y(k). 45. 0. -45 0. 2. 4 [. 6. ]. 2.12. KP(k) KI (k) KD(k). 15. 10. 5. 0 0. 2. 4 [. 2.13 PID. ]. 6.

(39) 3 2.2. 4. 3.1 3.1.1. [32]. (i).

(40) (ii). EOG Electro Oculography. 4 cm. 3 cm 3.1(a). [33]. EMG Electromyography. (iii). [34] EMG.

(41) [35] EMG Takagi [36] 3.1(b). (i) LED. 3.1(c). (ii). 3.1(d). [39]. [37][38].

(42) (iii). 3.1(e) CCD. [40][41][42]. [43][44]. [45][46][47]. ALS NN Neural Network. [48] [49].

(43) (a). (b). LED. (c). (d). (e) 3.1.

(44) 3.1.2 ALS. 30. 1m. NN.

(45) 3.2. Plate Plate. LED. Plate. Plate Plate. LED. Web. Logicool Raspberry Pi. Web. 2.3. HD Pro Webcam C920t Raspberry Pi 2 Model B. Haar-like.

(46) Haar-like 3.3 3.4. 3.3 Haar-like. 3.3.1. Haar-like. 3.2. 3.2.

(47) (a) Edge. (b). Line. (c) Center-Surround 3.2 Haar-like. 3.3. Haar-like.

(48) Haar-like [50]. 3.3. Haar-Like Haar-Like 3.3 Haar-like. 3.3.2. Haar-like. Haar-like. Raspberry Pi Haar-like 3.4. Web Web 3.5. 640×480. pixel (0, 0) Haar-like. 3.6.

(49) START. Haar-like. Haar-like. 3.4. 3.5. Web.

(50) (xface, yface) wface 2 hface 2. hface 6. (xeye, yeye) hface. heye. wface. weye. 3.6. 3.7. Haar-like 3.6 y. /2. 0. x. /6 /2. 3.7 1. Haar-like. Web.

(51) (3-1). (3-2). (3-3). (3-4). 3.4 3.2. Haar-like 3.8. 2.

(52) DoC. YES DoC NO. 1 sec. 3.8. 3.4.1.

(53) 2 2. 8 bit. 255. 0. 2. 2 p-tail 2. p-tail. 2 2. p [51] p-tail. 2 2 5 %. p =. 2. 0.05. 3.9 [51]. 2.

(54) 8 8. 3.10 3.11. 3.12. 1 1 1 1 1 1 1 1 3 3 3 3 3 3. (a). 2. 2 2 2 2 3 3 3 3 3 3. 3 3 3 3. 3 3 3 3 3 3. (b). 3.9. (a). 2. (b). 3.10. (c). 3 3 3 3 3 3.

(55) (a). (b) 3.11. (a). (b) 3.12. 3.4.2. 3.11. 3.12. S l. DoC (3-1). DoC 0.0. X. 1.0. X = 1.0. X.

(56) 3.4.3. 20. 6 300 mm 3.13. Web. Web. 1. 0.6 ~ 0.7. 0.1. 0.2. 1.0 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0.0 0. 2. 4. 6. 8. 10 [. 3.13. 12 ]. 14. 16. 18. 20.

(57) 1.0. 0 0.4. 9. 1 2. 0.17 0.1. 0.15 2. 0.34. 3 1.0. 3.5 3.5.1. 10 1. 20 12. 15. 9.

(58) 3.1. A. / 15 / 15. 0. B. 15 / 15. 0. C. 15 / 15. 0. D. 14 / 15. 0. E. 15 / 15. 0. F. 15 / 15. 0. G. 15 / 15. 0. H. 13 / 15. 0. I. 15 / 15. 0. J. 15 / 15. 0. 3.5.2 3.1. A F. G J 100 %. 3.5.3.

(59) D. 9 3×3 570 lux 150 lux. 300lux. 3.

(60) 4 3. Plate. LED LED. 4.1 4.1.1 PC. 2. (i). EOG Electro Oscillography 3.1. EOG [52]. 4.1(a).

(61) (ii). [53] 4.1(b). (i) DPI. Double Purkinje Image 4.1(c). DPI 1 4. [54] 500. 1. 4. 1.

(62) (ii) 4.1(d). [55][56][57]. LED. (iii) 4.1(e). [58][59].

(63) +. +. (a). (b). LED (c) DPI. (d). +. LED. (e) 4.1. +.

(64) 4.1.2. 2 12. 50. 5. Plate. 5. 2. 4.2. Plate. LED. 3. Web PC. (b). HD Pro Webcam C920t 4.2. Web (a). Logicool.

(65) START. END. 4.2. (c). (d). Plate. 4.2.1 Web RGB. Plate.

(66) 4.2.2. RGB RGB R. Red. G. Green. B. Blue. RGB. 8 bit. 0. 255. RGB (R,G,B). (255, 255, 255). (R,G,B). (. (R,G,B). (241, 187, 147). 0,. 0,. 0). RGB G. R B. RGB. RGB.

(67) 4.2.3. [51] (4-1). (4-2) n. (xi, yi). (PGX, PGY). (PGX, PGY) 4.3 Plate. 4.4. Web. Plate En Plate. 4.2.2.

(68) 4.3. Web. E1. E0. E2. E3. E4. L. E5 R. 4.4. Plate. 4.2.4 Plate. mm. Plate. 2.3. Plate. 37 mm. 4.4. 5. 185 Plate. Plate Plate. Web Plate.

(69) L [pixel] En. n = 0, 1,. R [pixel]. ,5 En = L +. (4-3). ×n. D. Plate. Plate. E0. D. E1. Plate. E1. D. E2. Plate. E2. D. E3. Plate. E3. D. E4. Plate. E4. D. E5. Plate. (4-4). 3. 4.3 4.3.1 Plate Plate A B. 5 C. D E. Web Web 10. 300 mm. Plate. Plate Plate.

(70) Plate. 4.3.2 4.1. 100 %. 4.3.3 300 mm. Plate. Plate B. C. B. 4.1. C. Plate [%]. Plate. Plate. Plate. Plate. Plate. A. 100. 100. 100. 100. 100. 100. B. 100. 100. 100. 80. 100. 96. C. 100. 100. 100. 100. 100. 100. D. 100. 80. 100. 80. 100. 92. E. 100. 80. 80. 90. 100. 90.

(71) 3.5.

(72) 5. 1. 1 3.

(73) LED. [60][61][62].

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