Abstract
In this research, in order to verify the automatic generation method of comfortable lift-up motion for nursing-care assistant robot, we measured human posture and contact forces during lifting-ups using different motions. In order to generate various lift-up motions accurately, an evaluation device is developed. From the measured subjects' postures and contact forces, we calculated the joint angles, normal forces and friction forces. Contact position between subjects and robot arms are also calculated. The ranges of changes are obtained, which can be use to set the parameter of our lift-up simulation. By comparing the most comfortable lift-up motion that subjects selected with other motions, we also obtain some conditions of comfortable lifting-up. These measured data would be used to tune and improve our estimation method to get comfortable lift-up motion.
