This paper describes the development of a prototype tool to be used to tie a clove hitch in order to bind a wire harness. The wire harnesses which are installed in airplanes are bound with belt-like strings. The binding process, which involves tying a clove hitch and then a double overhand knot, is still performed by human workers. To promote efficiency, simplifying the process by using tools is more practical than automating it with robots. We propose a tool that has a groove through which a string is pushed to form a clove hitch. The shape of the bottom of the groove is very important in order to ensure that the belt-like string goes through the groove without jamming. We formulated the bottom's shape based on the theory of surfaces and designed the shape to minimize changes in its curvature and torsion. We made a physical model of the prototype tool and confirmed its performance with tying experiments. As a result of the experiments, we found that there was a 93% probability of a successful tie occurring.

In this paper, we present design and analysis of a novel nursing lift and wheelchair which can run towards omnidirectional on the ground. The proposed assistive robot provides a power assist function for transfer aid system with hoisting, and also an omnidirectional motion function using DDSS (Differential Drive Steering System). By transforming the length of Boom, Shaft, and Leg Parts, novel power assist robot can easily transfer the person from wheelchair to bed, and vice versa, and furthermore can carry the person as a wheelchair. To show the usefulness of the proposed robot, several experiments with a series of nursing operation have been done in the present research.