バックドライブ性を有する腰補助用ロボットの制御システムの構築と性能評価

抄録

Lifting and carrying heavy loads often cause serious low back pain especially at work sites of the nursing, the civil engineering and the logistics. To alleviate and even solve this problem we have developed a backdrivable waist assisting robot. In this paper, we described the control system for the waist assisting robot. Further, we evaluated the performance of the control by measuring it’s output torque. The experimental results verified the effectiveness of the developed waist assistive robot. Meanwhile, we analyzed the causes that resulted in low efficiency of the power transmission system of the robot.