Prototype of Self Transfer Assist System enabling transfer from supine position

- 5th Report: Improvement of the leg transfer mechanism -

Abstract

In our research group, we have been researching the Self Transfer Assist Robot that realized the transfer by care receivers themselves. The prototype of the transfer assist robot could transfer from the sitting position to the sitting position. In this research, we tackle a research on "Self Transfer Assist System", that is including the posture change from the supine position to sitting position. This system consists of " leg assistance robot ", " electrical bed with body position changing function", in addition to " transfer assist robot". In this paper, we investigate how “leg assistance robot” receive the legs from “transfer assist robot”. To solve it, we develop “Leg transfer mechanism” with the rack and pinion mechanism and pneumatic soft actuator. By this research, we realized the receiving legs and transferring from the sitting position to lateral position.