体幹部装着型ロボットの接触部位構造検討のための体表面形状変形のマーカレス計測

抄録

The authors aim to realize a wearable robot that supports the motion of the entire body trunk. In order to realize this robot, the determination of the robot structure is the primary task. Focusing on the body surface shape where the robot makes direct contact, we examine the robot structure that can follow the deformation of the body surface shape. However, with the existing measurement method of body surface shape deformation using markers, the robot structure can not be clarified. In this paper, we propose a new method for measuring deformation of body surface shape in the trunk motion without using any markers as a a preliminary step of the robot structure determination.