S1103-2-6 腰動作を支援する起立補助機構の開発(第15回卒業研究コンテスト(2))

概要

論文の詳細を見る
Getting up motion from a sitting position in one of lives daily activities. People who cannot stand up have difficulty living a normal life. Rehabilitation for handicapped patients and the elderly is very strenuous. Therefore we have developed a mechanism to help the elderly and the handicapped to stand up with less difficulty. We started by analyzing results of each angle variation from each joint. Human getting from a sitting position is analyzed by using data from ankle, knee, and hip angle for output of his/her posture and trajectory of the human waist. In general, humans shift their upper body's center of gravity on his foot when getting up by bending the upper body. Therefore we developed a mechanism to assist the upper body when bending forward in addition to the body lifting. However, since some people may have difficulty bending their back, we make it possible to stand without bending the upper body with the same mechanism. Even though this mechanism has only one DOF (degree of freedom).
2009-09-12