人体荷重下を滑り込む Slip-in マニピュレータの動作特性

抄録

This paper describes a human-friendly flexible manipulator capable of sliding under a human body without friction and helping the person turn over in bed. It aims to prevent pressure ulcers in bedridden patients by changing contact points. The proposed manipulator, termed “Slip-in Manipulator,” is composed of two soft chambers and an electric motor. It can slip in between the bed and human body by drawing out the inner chamber using pneumatic pressure. It can also perform bending motion by pressurizing the other chamber. In this paper, we first illustrate the design concept. The characterization of slip-in and bending motions are described. Next, we introduce the control system and control method of the manipulator. Finally, the experimental results of the developed prototype are shown, which suggest that the manipulator works well by proposed control method, the slip-in motion can slide under the human body and the bending motion is effective in assisting turning over.