Abstract
Increasing aged people who needs nursery care, home mobile robots are required. For household use, we have been developing a wall mobile robot arm system. In this presentation, the mechanical design of the robot arm with a gravity compensation mechanism using spring and the considering total DOF including the mobile platform are discussed. In addition, the developed pilot system using Bluetooth communication and Android interface are introduced. The developed robot system could move along the curved handle rail on a wall and the arm could grasp a target and take it to the desired position. The result of the experiment is reported.
