人の空間動作を補助するための劣駆動アシストアームの開発

抄録

In this study, we developed a 5-DOF skill-assist arm for assisting human motion such as writing words. The assist arm consists of a 3-DOF serial arm and a 2-DOF rotational mechanism installed at a tip of the serial arm. The serial arm has 2 actuated joints and 1 passive joint and the 2-DOF mechanism has 2 passive joints. In this paper, assisting methods of virtual planes and trajectories in space using the assist arm are revealed and we confirm a possibility of the assist arm from the results of experiments of the methods.