804 意思伝達の透明性を指向したパワーアシスト装具の開発(GS-2,16 医療機具,研究発表講演)

概要

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This paper presents a power assist orthosis that assists a human helper caring for old people's wake up motions. In developing such a device, we especially focus on the usability of the device both for nursing people and nursed people. That is, a feature of a user's intentional directability of an orthosis should be realized, and it must be so that a user's acting intention should not conflict with the motion of an orthosis. We introduce an idea of isomorphism for an interactive task that a human performs with a nursed people, and discuss about the usability and operability of an orthosis in terms of this idea. Based on the preliminary analysis of a human nursing motion, design specifications for an orthosis are determined, and impedance control is embedded within a designed orthosis. Experimental results obtained so far are presented, and ongoing and future issues are discussed.
社団法人日本機械学会の論文
2005-03-18