2A2-I10 積層型空気圧アクチュエータを用いた座位支援装置の開発(アクチュエータの機構と制御)

概要

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The purpose of this study is to develop a seated position assist device to control a seated position. The developed device is constructed with six layer type pneumatic actuators. The developed device can be operated by on expansion of the actuator. The layer type pneumatic actuator is composed of two nylon bands and an expansion unit, which is constructed with an aluminum film balloon and a nylon band. By measuring a height direction and an inner pressure, this actuator can estimate an applied force. The developed device can also estimate a gravity center by using the above estimated force. In this device, the seated position is controlled based on the estimated gravity center. In this paper, the structures of the layer type pneumatic actuator and the seated position assist device are described, and then the seated position control using the estimated gravity center is discussed.
一般社団法人日本機械学会の論文
2011-05-26