@techreport{oai:mie-u.repo.nii.ac.jp:00014559,
 author = {池浦, 良淳 and Ikeura, Ryojun and 早川, 聡一郎 and Hayakawa, Soichiro},
 month = {May},
 note = {application/pdf, パワーアシスト装置は現在の高齢社会に必需となるが，操作に違和感や恐怖感を抱き，それによる事故の発生は避けなくてはならない．本研究では，重量感覚における違和感や恐怖感の低減を目的として，人が操作前に予想する重量感の予測とそれに合った操作時に感じる重量感の制御手法を開発した．具体的には，操作開始瞬間の力データより重量感の予測を行い，それに基づいて，操作中のアシスト装置の重量制御を変更した．その結果，重量感の制御を行うことにより，操作時での違和感を低減できることを示した．, Although the power assist device is indispensable for the current aging society, it is necessary to avoid the occurrence of accidents due to the feeling of discomfort and fear of the operation. In this research, we developed a method for predicting the feeling of weight that a person expects before operating and a method of controlling the feeling of weight that is suitable for the operation, in order to reduce the feeling of the discomfort and fear in the feeling of weight. Specifically, we predicted the feeling of weight from the force data at the moment of starting the operation, and based on that, we changed the weight control of the assist device during operation. As a result, it was shown that the discomfort during operation can be reduced by controlling the feeling of weight., 2016年度～2019年度科学研究費補助金(基盤研究(B))研究成果報告書, 16H02881},
 title = {パワーアシスト装置の操作における違和感の定量化とそれに基づく違和感低減手法の開発},
 year = {2020},
 yomi = {イケウラ, リョウジュン and ハヤカワ, ソウイチロウ}
}