ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-G03
会議情報
1A1-G03 Big-hand:人体を安全に抱きかかえて立ち上がり動作を支援する装置 : 第2報:自重補償による姿勢保持(福祉ロボティクス・メカトロニクス(1))
永野 仁啓駱 均泰塚越 秀行
著者情報
会議録・要旨集 フリー

詳細
抄録
This paper describes a system which holds a human body safely and realizes supporting for standing-up motion. It consists of a holding unit connecting human body and walking device, and supporting unit which can aid in supporting human posture while standing. The supporting unit has a weight-compensation mechanism which contains spring, wire, and pulley, so that it can compensate load at any angle. The weight-compensation mechanism also has another pneumatic actuator which can modulate spring rate to respond to the change of compensation weight. The compensation weight can be estimated by a flexi force sensor and appropriate spring constant can also be decided. With the weight compensation mechanism in active state, the system can prevent the patient from losing their standing balance.
著者関連情報
© 2014 一般社団法人 日本機械学会
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