人体荷重下を無摺動で滑り込む Slip-in マニピュレータの動作特性

抄録

This paper proposes a human-friendly soft manipulator capable of sliding under the human body without friction and of helping it turn over in bed. It aims to prevent bedsore for bedridden patients by changing contact points. The proposed manipulator named “Slip-in Manipulator” can generate two motions. One is to slide under the human body. The other is to bend for supporting changing posture. In this paper, first, we illustrate the design concept of this manipulator. Next, we describe the characterization of slip-in motion to realize the design method of the proposed manipulator.