果樹栽培のための上肢作業補助具の設計と評価

抄録

The purpose of this study is to develop an assistive device with crawler moving mechanism in order to reduce the burden on the grape growers. The assistive device is mounted to a mobile robot by a flexible arm and consisted a linkage mechanism in order to use a single linear actuator. This device assists in the flexion and extension of the shoulder joint, elbow joint, and wrist joint. The effectiveness of the proposed assistive device is verified by the result of the experiments.