Abstract
In recent years, researches and developments of Power Assist Devices are hot topics in the field of robotics. But, downsizing and insurance of safety of the system are difficult problem in order to realize the practical use. In this study, we focused on a meal task, and investigated suitable condition of an exoskeleton mechanism for the task by using analyses of maneuverability and manipulability of the proposed exoskeleton system. In this way, we showed the design strategy of the exoskeleton type Power Assist Devices to find out the suitable condition for the patients quantitatively.The performance of the proposed system and the validity of design strategy are verified through hardware experiments.
