抄録
In this paper, we suggest a wearable robot "Wheeb-I", a new type of wheeled suit to compensate weight for radiation protection. To deal with weight of the radiation protective suit, powered exoskeletons have been developed. However many problems exist such as short operating time because of high energy consumption, unable to compensation weight in forward-bent posture and require a lot of time for wearing owing to attaching sensors. To overcome these problems, we propose a structure which has two active wheels and remove restriction of the body. It moves in high energy efficiency and can wear easily. We developed a prototype robot and made an experiment of walking and measurement of assisting force.
