抄録
We propose a mobility device using tether for human under the microgravity. This mobility device (TSMD) which makes a user moved by winding the tether, so it does not pollute air in the structure like ISS. It is advantageous to use the tether under the microgravity for its extensibility and easiness of storing. Then we have developed a prototype of TSMD and verified the availability of using the TSMD. In this paper, we improved the prototype to be able to observe its behavior against disturbance that is considering human motion. As a result of experiments to verify the effectiveness of the winding control, it was confirmed that the position control can decrease the rotation of TSMD, and in experiments input disturbance, it is found that human motion has significant influence on position control.
