受動関節を利用したパラレルメカニズム形動作補助装置の開発

抄録

In this study, to assist the motion of a person in rehabilitation and so on, a parallel mechanism DELTA type skill-assist arm with three degrees of freedom is developed. The skill-assist arm can correct the positioning of a user. When the user inputs a movement to the arm, a passive joint of the arm is rotated according to the movement of the user. Then an output point is corrected by a position control of other actuators to coincide the point with a target path. However, during the assist by the arm, the passive and active joints need to be switched from one another. However, a vibration of the output point due to the change in inertia of joints tend to occur. To reduce the vibration, we use the DELTA mechanism with a symmetrical structure. We conducted a basic skill-assist experiment using a prototype and confirmed that the output point was positioned and corrected almost along with target straight lines without vibration.