腰痛防止のための吊り下げ型介護支援ロボットの基本構成とその実験的検討

抄録

The develop of low back pain in nursing care work is a serious problem, and various research institutes and companies have manufactured assistive robots to prevent low back pain, but practical issues remain in areas other than assistive performance, such as detachability, miniaturization, and weight. In this study, a basic configuration for generating an assist force to solve the problem with a suspension-type assist robot is realized and experimentally investigated. This paper describes in detail the mechanism design, system design, and control design as the basic configuration, and verifies their validity through experiments.