介護用移動マニピュレータの自律移動制御

抄録

We develop an equipment in the nursing system such as the mobile robot with the portable toilet and its autonomous control system, and also develop a support system to equip aid in transport an excrement, and cleaning toilet designed to improve the QOL of handicapped people. A portable toilet is mounted on a mobile manipulator. In order to deal with cleaning an excretion, we propose a simple arm with wire driven by the motor installed on the base of the mobile robot. After use in toileting, the mobile manipulator moves to an ordinary permanent in rest room in house. In order to flow the excrement, the mechanism of the robot can exceed above the toilet in the rest room, and also the robot can clean the toilet by flushing the water using the proposed manipulator.