MF113 起立/着座支援機能を有する歩行器の研究(MF11 起立・歩行支援1,あたり前のことを知る)

概要

論文の詳細を見る
This paper proposes a walker system with power assistance device for standing up motion. Our system focuses on family use for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is new assistance manipulator mechanism with four parallel linkages. Our proposed manipulator mechanism requires only smaller actuators and realizes rigid structure with lighter linkages comparing with general manipulator. Thus, we can design our assistance system compactly with low-cost using our mechanism. The second topic is the combination of force and position control. According to the patient's posture during standing up, our control system selects more appropriate control method from them. We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance. The performance of our proposed assistance system is verified by computer simulations based on our prototype model.
一般社団法人日本機械学会の論文
2007-09-30