車椅子搭載ロボットアームの操縦性及び可操作度による動作範囲の検討

抄録

When supporting the independence of a physically handicapped person using a wheelchair-mounted robot arm, it is expected that it will be extremely difficult to grasp a falling object, which is one of the daily activities, without assistance. By tilting the mounting portion forward at an arbitrary angle, it is expected that the operating area near the floor will be expanded, but there is a problem that the operating direction of the operating device and the operating direction of the robot arm wrist position do not match. Therefore, in this paper, when an arbitrary rotation angle is given to the mounting part of the wheelchair-mounted robot arm, the control direction by the operation device and the operation direction of the robot arm are matched, and the improvement in maneuverability is evaluated.