Development of new type Manipulator for Nursing Bed-Ridden Patients.
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概要
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In these several years, the number of aged people in Japan has increased, and for some other reasons, there has risen the problem of people who take care of the bedridden patients in daily life. And it is.expected that this kind of probkem would be more serious in the future. As one solution to the this problem, we've developed some manipulator systems which aid the nursing of bedridden patients. But the traditional manipulator is not powerful enough to be used in practice.In order to overcome this disadvantage in power, we developed a new type manipulator which is more powerful than the traditional one, by using the wire-driving mechanism. This mechanism has been thought to be useless, because the length of wire changes as the load changes, and it is difficult to know the precise position of the end effector. This time, we have solved this problem by putting high resolution encoders at each joint and sensing the displacement of the joints directly. As the result, we succeeded in developing a new type manipulator more powerful than the traditional one. And for controllability, we took the dual-PID control algorithm and improved the controlling characteristic.