抄録
This paper describes effect of elapsed time for position estimation of care receiver in nursing care robot with dual arms. A lot of care givers have lower back pain due to transferring a care receiver between bed and wheelchair. Our robot lifts up and transfers a care receiver from bed to wheelchair using its two arms to reduce burden of care giver. To transfer the care receiver safety and without inflicting pain and discomfort, the robot must detect the care receiver's position. The robot has tactile sensors within arms, and the robot is able to detect the care receiver's position by touching the care receiver during lifting up motion. The sensor data prior to being lifted is the most effective for estimating the care receiver's position.
