讲座题目：Intelligent Cane Robot for Human Walking Assistance
讲座时间：2016年5月19日上午09：00
讲座地点：18新利体育 北区A工科1109（机器人中心会议室）
讲座者简介：
邸霈，名古屋大学工学博士，现任名古屋大学未来社会创造机构助教
2008年4月考入名古屋大学，所属于微纳米系统工学科，福田研究室。2010年3月毕业取得工学硕士学位。
2010年4月至2011年3月受聘于近藤制作所股份有限公司-图像处理开发科-系统工程师。
2011年4月考入名古屋大学，所属于微纳米系统工学科，福田研究室。2013年3月毕业取得工学博士学位。
2013年4月至今任名古屋大学-未来社会创造机构，助教。
硕士期间参与次世代机器人组装系统流水线故障检测与恢复系统的开发。该项目由日本新能源产业技术开发机构(NEDO)和日本三菱电机有限公司共同立项，多所日本国立大学参与开发。面向下一代智能组装机器人系统开发。通过视觉与力传感器实现对软性电线类物体进行装配以及故障诊断。
公司任职期间担任视觉模块的软硬件开发。公司于2011年初推出了首款集摄像头数据采集，图像处理于一体的自动化流水线故障检测系统。
博士期间作为名古屋大学Global COE(Center of Excellence) program研究助手，开发了首款拐杖型机器人用于辅助老年人于残障人士行走。取得专利1项，发表高水平国际期刊2篇，国际会议7篇。
2013年4月受聘于名古屋大学未来社会创造机构-高龄社会可持续发展组织，任助教职位。设计并开发了面向老年人的家庭辅助型机器人系统。实现了行走辅助，就坐/起立辅助功能，语音识别，室内SLAM定位于导航等功能。取得国际专利2项，发表论文2篇。
讲座摘要：The world is facing challenges of rapid aging population. The elderly people regarded as senior citizens draw attention because of their weakest and problematic living conditions. It is an important responsibility of democratic welfare state to solve the problems of aging and take care of elderly people. They suffer from low levels of physical strength due to muscle weakness, which affects their motion ability significantly. Restricted movement lowers the performance of most activities of daily living (ADLs). In addition, the growing elderly population causes the shortage of young people for nursing care. Therefore, walking-aid robots find their application in the nursing and therapy field for these mobility impaired people.
In daily life, the walking is one of the most important human activities. To improve the walking ability of the elderly, the walker-type rehabilitation robot has become a popular research topic over the last decade. There have been many intelligent walker-type robots comprising active or passive wheels and supporting frame. In the past several decades researchers have been addressing the needs of persons with mobility disabilities through alternative or augmentative devices. There are still many deficiencies in the present walker systems. First, many walkers are designed for the indoor environment. Second, most of them are big in size and/or heavy in weight. An indoor robot is often restricted within limited places. Big size makes it impossible to be used in narrow space and heavy weight restricts the maneuverability. Many elders and patients are not so weak that they have to be nursed carefully. Nevertheless, sufficient support, such as a cane or stick, is necessary to help them take a walk outside, which enables them to realize high-quality lives or accelerate the rehabilitation. In these cases, an intelligent cane system may be more useful than walkers due to its flexibility and handiness.
In the previous works, an intelligent cane robot is proposed to aid the elderly and handicappedpeople walking. We focus on the“usability” and “safety” of cane robot for aiding theelderly to walk comfortably and safely. A concept idea named “ITD” is proposed tocontrol the cane robot, and a fall detection and prevention method are used to guaranteethe safety for both human subject and cane robot based on ZMP stability theory. For thefuture research, we would like to accomplish the “safety”; the hazard detection i.e. thepotential risk in the environment should be investigated. The dangers including two sides,the inner and the external; the inner risk means the fall over risk of human subject and thetip-over risk of cane robot which we discussed above. By using the laser rangefinder whichis fixed on the base of cane robot, the obstacles can be detected e.g. walls, steps or somemoving object closing to the user.
