Abstract
At the close of the 20th century, in Japan, the reduction of incidence of the care worker in an aging society is becoming pressing need. Then, we aim at the development of the robot arm for care which is flexible and united with the motion of man.
In this subject, we suggest to develop the “Tendon-Driven 2-Link Manipulator Driven by Pneumatic Cylinder” as the care lift for assisting the rising and sitting of elderly people, disabled people or wheelchair users.
The tendon-driven manipulator system developed in this subject makes use of the pneumatic cylinder as an actuator. A pneumatic actuator is characterized by enabling the flexible action by the compressibility of the air. By means of the fl exible action caused by the compressibility of the air, the welfare system making use of a pneumatic actuator can be expected to the “Human-Friendly Assist”.
