顔表面のなぞり動作により化粧行為を支援する卓上型ロボット

抄録

The purpose of this research is the development of an assistive robot for facial make-up in order to reduce the time and works. The designed assistive robot consists of, device with two actuators to carry an end effector with a constant spring installed at its base. By using the simple mechanisms, the robot can trace the face safely with a simple control method. The two actuators allowed the end effector to be movable in high accuracy and high speed. The constant spring allowed to press a cosmetic brush with a constant force on the users' face. The spring expands and contracts along the surface of the face so that the end effector can be moved without the control in a normal direction.