抄録
In this study, we propose a new mobility device using tether (Tether Space Mobility Device, TSMD) for outer space. TSMD is the mobility device that moves user by taking-up the tether which is attached to the wall of the structure. This system has to contain the control system. So we applied two types of control system, arm control and taking-up control. Arm control reduces variation of posture by changing direction of tensile force autonomously. Taking-up control helps arm control by cause deflection and tension of tether deliberately. In this study, we designed the prototype of TSMD and produced it. The fundamental experiments of TSMD are performed by duplicated two-dimensional microgravity with the air bearing and the flight-table. From the result of experiment, it is found that proposed control system is effective. The effectiveness of control gain is also investigated.
