Abstract
A life support system using robotic physical agents for partial disabled people has been addressed. Concept and design of a newly developed end-effector, which assist user's daily operations of home appliances such as sanitary ware, healthcare equipment and so on, is proposed. The device can control the distributed appliances in user's room environment by connecting its end-effector to the corresponding attachment on appliance. Experimental results of a prototype device called "M-GEAR" show the device motion characteristics as well as the effect of connecting tolerances on the power transfer performance.
