被介護者の立ち上がり動作解析用ロボットの開発

抄録

This paper aims to search how the cared person stands up. Recently, we are facing rapidly aging, and we need to use robot technology in care field. On developing care robot, we should understand the cared person movement. However, human movement is not revealed enough. If we construct human model, we can comprehend their movements. Then, we try to make simple human model. This time, we focus on standing-up from a chair that is one of the most basic movement. We use 3links-3segments model as a simple human model and develop the standing up robot. Dividing standing-up 5 phases and controling these phase properly, we investigate the similarity between human and robot.