研究 / Research
装着型歩行アシストロボットの安全性評価 / Safety of Wearable Gait Assist
装着型歩行アシストロボットは，リハビリに加え日常生活支援への応用が期待されます．しかし，装着者の自然な動きを妨げるとかえって不安定化や転倒を招いてしまうかもしれません． 本研究では，アシストのタイミング，関節自由度の制限，装着部のずれなどを考慮し，歩行終了や旋回などの日常的な歩行動作へのアシストロボットの適用性を主に歩行安定性の観点から評価します． トレッドミル歩行実験，モーションキャプチャによる動作計測、筋骨格シミュレータによる力学解析を組み合わせることで，ロボットの支援効果だけでなく，アシストの誤作動や不整合が生じた場合のリスクも定量的に明らかにします． これにより，生活環境で安全に使える歩行支援機器の設計指針を得ることを目標としています．
English
Wearable gait assist robots are expected to be applied not only to rehabilitation but also to support daily living. However, if such robots interfere with the wearer’s natural movements, they may instead cause instability or increase the risk of fall. In this research, we evaluate the applicability of assistive robots to daily walking movements, such as gait termination and turning, mainly from the perspective of walking stability, while considering factors such as assist timing, restrictions on joint degrees of freedom, and displacement of attachment parts. By combining treadmill experiments, motion capture, and musculoskeletal simulation, we quantitatively clarify not only the assistive effects of the robot but also the risks that may arise when assistive actions malfunction or become inconsistent with the wearer’s movement. Through this research, we aim to obtain design guidelines for walking assistive devices that can be used safely in daily living environments.
- 生活環境における装着型ロボットの歩行安全性検証
Evaluation of the gait stability of the exoskeleton in daily living conditions
転倒対策のための実転倒挙動解析とシミュレーション / Analysis and Simulation of Real-World Fall Behavior for Fall Prevention
高齢者や歩行機能が低下した人の転倒を防ぐためには，転倒に至る際の身体挙動や，接地部位および負荷力の理解が重要です．しかし，危険性の高い転倒を人を対象として直接実験することには限界があります． 本研究では，実際の転倒動画や模擬転倒実験から得られる姿勢・関節運動をもとに，転倒挙動の三次元動作解析と力学シミュレーションを行っています． さらに，床反力モデルや筋骨格モデルを用いて，床面接触時の負荷力や身体機能の低下による危害増大の影響を推定しています． 動作解析と力学シミュレーションを接続することで，転倒時の防御動作や危害軽減方策の検討を行います．
English
To prevent falls among older adults and people with diminished walking ability, it is important to understand motion during the process leading to a fall, as well as the body parts that contact the ground and the resulting impact forces. However, there are clear limitations to conducting direct experiments involving high-risk falls with human participants.
In this research, we perform three-dimensional motion analysis and dynamic simulation of fall behavior based on posture and joint motion data obtained from real-world fall videos and simulated fall experiments. Furthermore, using floor reaction force models and musculoskeletal models, we estimate the impact forces generated at floor contact and the increased risk of injury associated with diminished physical function.
By integrating motion analysis with dynamic simulation, this research examines protective movements during falls and strategies for reducing fall-related injury.
- 転倒回避動作シミュレータ開発
Development of the fall motion simulator - 転倒動画の３次元動作解析
3D motion analysis of the 2D video of fall motion
装具を用いた転倒リスク対策と評価指標の開発 / Development of Fall-Risk Indices and Countermeasures Using Assistive Devices
転倒リスクは，筋力低下，関節可動域の制限，足底クリアランスの低下，歩行リズムのばらつきなど，複数の要因が組み合わさって生じます． 本研究では，無動力歩行アシストスーツを用いて歩行を補助し，そのときの歩容変化を計測することで，アシストスーツの開発と転倒リスク評価指標の開発を行っています． 特に，最小足底高さ，歩行安定性余裕，小型慣性計測ユニット(IMU)から得られる時系列波形などに着目し，フレイル高齢者や歩行機能が低下した人の特徴を定量化します． 開発する評価指標は，装具やアシストデバイスの効果検証だけでなく，日常環境での転倒予防支援にも応用できます．
English
Fall risk arises from a combination of multiple factors, including muscle weakness, restricted joint range of motion, reduced toe clearance, and variability in gait cadence. In this research, we develop a passive walking assist suit and fall-risk evaluation indices by using the suit to support walking and measuring the resulting changes in gait.
In particular, we focus on parameters such as minimum toe clearance, margin of stability, and time-series waveforms obtained from inertial measurement units (IMUs). These measures are used to quantitatively characterize the gait features of frail older adults and people with reduced gait ability.
The evaluation indices developed in this research can be applied not only to the velidation of the effectiveness of orthoses and assistive devices but also to fall-prevention support in daily living environments.
- 軽量アシストスーツ開発
Development of the fabric gait assist device - 歩行安定性指標構築
Development of the gait stability index
共存ロボットの導入に向けたリスク対策の検討 / Risk Reduction Measures for the Introduction of Collaborative Robots
生活環境や公共空間で人と共存するロボットを導入する際には，人とロボットの隔離は現実的ではありません．利用者の行動，環境条件，ロボットの挙動，運用上の制約などを含めたリスク評価が不可欠です． そのため，本研究では，移動機能を持つ共存ロボットを対象に，ISO 12100などの機械安全の考え方やSTAMP/STPAを用いたリスク分析を応用し，リスクアセスメントの実施を通して社会実装に必要な安全要求を検討しています． さらに，リスクアセスメントの効率化や，共存環境におけるリスクシナリオの再検討など，安全工学的な貢献も目標としています． このテーマはこれまでのところ学生は従事しておらず，教員の個人研究や共同研究として実施してきました．どちらかというと社会人向けのテーマだと考えています．
English
When introducing robots that coexist with humans in living environments or public spaces, physical separation between humans and robots is unrealistic. Therefore, risk evaluation must consider a wide range of factors, including user behavior, environmental conditions, robot behavior, and operational constraints.
In this research, we focus on collaborative robots with mobility functions and apply concepts from machinery safety, such as ISO 12100, as well as risk analysis methods such as STAMP/STPA. Through the implementation of risk assessment, we examine the safety requirements necessary for the social implementation of such robots.
In addition, this research aims to contribute to safety engineering by improving the efficiency of risk assessment and reconsidering risk scenarios in human–robot coexisting environments.
So far, this topic has not been undertaken by students and has mainly been conducted as individual research by the faculty member or as part of collaborative research. It may therefore be more suitable as a research topic for working professionals.