2P1-E04 生活支援を目的とした車椅子搭載型ロボットアームの開発 : 自重補償機構による軽量・コンパクト性の実現を目指したシリアルリンク型ロボットアーム(医療・福祉ロボティクス・メカトロニクス)

概要

論文の詳細を見る
In this research, we are currently developing a robotic arm which is mounted on a wheel chair to help some disabled people in daily living. The robotic arm should be safe, so we installed a weight-compensating mechanism into the robotic arm to reduce its actuators' weight. In this paper, newly developed robotic arm is shown. It is 7 D.O.F. robotic arm with the weight-compensating mechanism and a simple gripper hand. It is 752 [mm] long, and it weighs 5.2 [kg]. We confirmed 500 [g] maximum load.
2008-06-06