2A1-U08 Development of the Interlock Mechanism between Elbow Flexion and Forearm Rotation for Meal Movement with Exoskeletal Robot for Elbow(Welfare Robotics and Mechatronics(2))

Abstract

Meal movement with exoskeletal robot for elbow which has no forearm rotation DOF poses trick motion of shoulder. However, it is not good for everyday life support robot to add another DOF with an actuator because it makes the robot bigger and heavier. So, in this paper, we revealed the correspondence relationship between elbow flexion and forearm rotation in meal movement, and created an orthotic which has the function interlock elbow flexion and forearm rotation along the lines of meal movement. We measured the trick motion of shoulder with the orthotic we created, and we confirmed that the orthotic we created makes trick motion of shoulder smaller than existing orthotics with no forearm rotation DOF.