抄録
In this paper, the grasping support device that reduces load of muscle in a grasping task of heavy objects is developed. The grasping support device is driven by pedal force through tubes. When pedal force raises pressure in tubes, the grasping support device generates compensation force according to Pascal's law. As the grasping support device doesn't interfere with human's fingers, grip and compensation force can grasp object independently. A pilot model of the grasping support device that is intended for cylindrical object is designed, and range of motion, compensation force, and load of muscle are evaluated. From the result, it is clarified that the grasping support device is effective for reducing load of muscle with grasping the heavy cylindrical objects.
