Abstract
In recent years, rapid aging in Japanese society advances and the care givers takes on large loads. Especially, transfer operation, such as a patient transfer from a bed to a wheelchair or back, is one of the most physically heavy tasks in nursing care. We have developed the nursing-care assistant robot named RIBA that aimed to assist transferring a patient by lifting up. It is necessary to investigate how to transfer a human from a bed to a wheelchair or back. In this paper, we measure the lift up motion by human and analyze the skill of safety and efficient lift up in order to apply for base of the motion planning of RIBA. Comparing with angle of the right and left upper arms, the angle of the head side arm is larger than the angle of the leg side arm.
