抄録
In this study, we propose a wearable hoisting force support mechanism utilizing gravity of an object such as a bag. The proposed mechanism which is worn on a finger is composed of two spherical four-bar mechanisms to bend PIP and MP joints on back of the joints, connecting wires for these mechanisms, and wires that are stretched at palm side of the finger. Because gravity of the object is loaded on the wires at palm side and the wires are transferred the load to spherical four-bar mechanisms, the proposed mechanism supports passively hoisting force of the object. In this paper, after analyzing the kinematics of the proposed mechanism, we developed a prototype and clarified availability of the proposed mechanism by evaluation tests.
