2A1-A04 下肢用人間装着型ロボットの安全性評価試験方法に関する研究 : 第1報:膝ジョイント連動並進機構を有するダミーの提案(安全・安心なRT構築を目指して)

概要

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The paper concerns a safety testing method for human wearable robots applied to their lower-limbs. The study focused on the mismatch between the motion of a human knee and that of a robot knee joint when it drove the human lower limb through cuffs, and promoted our development of an experimental system for the data described below. First, we investigated the difference of loci during flexion motion of a participant which were drawn by the markers applied to both his lower thigh and the lower link of the wearable robot when worn by him. Second, we detected the interactive tensile force vector data at the cuffs which supposedly originated in the mismatch between the two loci. Then, we produced and manufactured a prototype lower-limb dummy to use it for safety evaluation tests. Finally, we measured another series of interactive tensile force vector data between the dummy and the robot, and found a major difference in the tendency of the two kinds of force vector data which originated in the flexible and adhesive property of the cuffs fitted to human lower limb.
一般社団法人日本機械学会の論文
2011-05-26