2P1-D14 立ち上がり支援における被介助者の膝関節負荷低減が可能な手先誘導軌道に関する研究

概要

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We propose a method for designing the hand-guiding movement that enables to lessen knee joint torques of the elderly in standing-up motion support. The movement was derived based on the geometric analysis of transitional postures during a standing-up motion for an assisted person expressed with four link models comprising of a shoulder, waist, knee and feet. The postures satisfying the derived movement in which the center of gravity goes in a place near the toe in the foot contact area allows the elderly to reduce knee joint torques during the standing-up motion even if the burden grows most. Simulations and experiments using an actual robot for evaluation indicating the derived trajectory successfully lessens knee joint torques of the elderly confirm the validity of the proposed method.
一般社団法人日本機械学会の論文