患者抱き上げ装置自立化のための改良とその評価

抄録

This paper describes the development of second proto-type system of patient lifting arm (PLA) . This is battery-powered and has built-in type control system. The PLA, to realize the low power consumption, the shape of the insertion board and sequential motion of patient lifting is optimized, and the pnewmatic spring power assist system is used. Decentralized type control system layout is employed for realizing the built in control system. The compact controller (local controller) is set up on a part of the robot. The loop type serial communication line is developed for the data communication between the local controllers. The robot was tested in the medical facilities. We discuss the future of the patient care robot under the testing results.