2016 年 82 巻 834 号 p. 15-00376
In this present paper, we propose algorithm for selecting appropriate standing support equipment and a robot for persons in need of care based on the physical ability of the user. Although we have been developed assistive robots but users have not known which devices are appropriate for their physical abilities. We defined a maximum of vertical bearing forces of foot, hip and hand (foot : FF, hip : FHi, hand : FHa, normalized by weight) as parameters of physical ability because a person supports his or her body on foots, hip and hands when standing. Experimentally, we analyzed vertical bearing forces of foot, hip and hand and discussed the relationship between standing support equipment and robot and a maximum of vertical bearing forces during standing; we also investigated the algorithm for selecting appropriate standing support equipment and robot. Finally, we set the physical ability of the user of a standing support robot that FF is under 0.896±0.019 or FHi is under 0.802±0.010 and FHa is under 0.263±0.039, and confirmed that algorithm using physical ability measurement system in RT-Frontier.
