2A1-E06 肩関節中心移動機構を持つ上肢パワーアシストロボット(ウェアラブルロボティクス)

概要

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A center of rotation of a human shoulder joint is changed depending to the posture of the upper-limb. Although there are many upper-limb exoskeleton robots, most of these do not consider the change of the center of rotation of the human shoulder, and adopt the mechanism in which the center of rotation of the shoulder joint is fixed. If a user uses a power-robot with fixed rotation axis mechanism of shoulder joint, the gap occurs at between the centers of rotation of the user and the robot, and user might feel something is wrong. This paper discusses the upper-limb power-assist exoskeleton robot considering the change of the center of rotation of the human shoulder. To design the mechanism, the displacement of the center of rotation of the human shoulder according to the upper-limb's posture is measured. We propose the novel robot having the moving shoulder joint mechanism based on the measurement.
一般社団法人日本機械学会の論文
2011-05-26