建設現場の特性を考慮した重量物の運搬支援に関する研究

（長尺物の移動・下ろし動作を補助する上肢制動ツールの開発）

抄録

Recently, various machines have been developed to facilitate physical work with the progression of technology. Especially, powered exoskeletons have been highly expected to be used for heavy labor and already designed for specific situations such as transporting injured people after natural disaster or agricultural work. Meanwhile, there are a few studies into assisting items at construction sites where carrying heavy materials is required. Therefore, this research has explored supporting methods for heavy labor such as carrying long objects at construction sites. Carrying long objects and flat boards, focused on repeating holding the arms at target position and lifting down slowly, the authors decided to assist upper limbs, especially two parts of muscles that are around the shoulder and elbow joints where the load applies. About the shoulder joint, the lock mechanism with gear rack assists holding, and small damper assists lifting down. Regarding the elbow joint, the mechanism using small brake assists holding. The possibility of the load reduction effect has been found by developing the tool, in experience of holding and lifting down structural plywood, focused on EMG.