全身着用型補装知能機械SkilMate用型関節機構の研究 : Wearable HEXA機構の提案と設計(機械力学,計測,自動制御)

概要

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There are many tasks in which cumbersome protective suits or large mass of objects to be manipulated obstruct "intuitive" skills such as picking up and grasping. Workers engaged in such tasks are distressed for inefficiency or early fatigue. However, the efficiency or fatigue will be improved if they can perform their intuitive skills even in those tasks by wearing an intelligent machine. Based on this idea, we proposed the concept of the wearable robot "SkilMate". This paper proposes a new type of mechanism named "wearable HEXA" as a prototype shoulder joint of the SkilMate. This mechanism is designed wearable and to give no constraint caused by geometrical factors for a wearer, so that movements of his/her shoulder necessary for the intuitive skills are not impeded and interfered. Detail of the mechanism and its design process are described, and evaluation for an experimental mechanism manufactured along the design process is demonstrated.
2003-03-25