握力分布計測による杖へのよりかかり検出手法の提案

抄録

This paper describes development of a Grip Distribution Array Sensor (GDAS) to measure human grip strength distribution when a person uses a light and compact walk-aid robot. Elderlies whose walking function is lacked need walk-aid equipment and robotics technology is applied into walk support. The walk-aid robot is required to be light and compact for the elderlies to use in their daily life. Our research group has been tackling to develop a cane type walk-aid robot. The walk-aid robot needs to estimate user’s condition: wobble, pre-falling and so on. GDAS is developed to estimate such kind condition. In this paper, an experiment is conducted to verify that GDAS can estimate user’s reclining against a cane; the motion is one of the pre-falling motions. It is confirmed that GDAS can estimate the motion by comparing general six-axes force sensor.