超音波モータを用いたパワーアシストスーツの開発 : モータ開発と駆動制御

概要

論文の詳細を見る
This paper reports the development of a power assisted suit system actuated by ultrasonic motors. The proposed assisted suit is designed to support a carer while performing nursing care works. Therefore, the structure of the assisted suit has to be designed to cover the carers motion as far as possible and the suit are equipped with ultrasonic motors which are mounted in the parts closed to the joint rotation axis of elbow, shoulder, waist, and knee. Assisted suits frame is designed as an exoskeleton structure which can protect the wearer from accepting the suits own weight by contacting the foot part to the ground. The paper reports the φ 60 sandwich-type motor and the double sandwich-type motor for upper body part of the assisted suit as well. In addition, the torque of the double sandwich-type motor that combined two sandwich-type motors was about3. 8 times. From the above results, the double sandwich-type motor is less space-saving but it has high-efficiency of torque which is suitable as the actuator at the upper body of the assisted suit.
ライフサポート学会の論文
2006-12-30