車いす利用者用オーダーメイド自助器具の開発

概要

論文の詳細を見る
A wheelchair is an efficient and useful self-help device for people who have difficulty in walking. However, in order to spend self-reliant life, many wheelchair users need more functions based on individual physical imperfections. In this research we propose custom-made RT (Robot Technology) self-help systems to ease physical and mental burdens of wheelchair users. In this paper, we mention two examples of custom-made RT self-help systems; one is "Slope Compensating RT-Wheelchair", the other is "Pick Up Helper for Wheelchair User". There systems are developed based on the requests of wheelchair users. The former is developed to ease physical and mental burdens of wheelchair users getting around slopes. It estimates a component force accelerating it downward, and applies brake torques in order to be driven as if users were on flats. The latter is developed to help picking up motion of wheelchair user. In this system, the picking up motion is divided into the holding motion and the carrying motion, and these motions are realized one motor each. The system consists of picking up device, wed-camera to recognize a relative position between the device and the object, and a tablet PC for controlling the device. Experimental results show the validity of these systems.
函館工業高等専門学校の論文