抄録
In recent years, development of the upper limb assist device for old people and physically handicapped person. However, the exoskeleton type has a significant problem that the system will not appropriately assist human motions when upper limb assist device has no adequate assignment of kinematical degree of freedom. One of the complexity of kinematical complexity of human arm is the kinematical structure of scapula. Therefore, it is necessary to investigate the scapular complex mechanism. The purpose of this study is the design of the exoskeleton type upper arm power assist device including the significant degrees of freedom of human scapular mechanism. In this study, meal behavior of human is measured by a motion capture system and implemented mode analysis of the motion. We derived reduced and ecessary degrees of freedom in scapular model.
