重心バランスを考慮したアーム介助型起立・着座支援機

Abstract

This paper proposes an assisting device for a human standing-up and sitting motion considering the balance of the center of gravity. It consists of a fluid powered human gripper “Hug-arm”, an assisting motion device, and a walker with braking assist function, and human intention detecting function. We classified human standing-up motion into three phases, 1) bending phase, 2) leaving phase, and 3) lifting phase, and each phases can be detected at each starting point. Starting point of first phase was judged by load on human chest, and those of second and third phase was detected by load on foot, especially on thenar eminence. Using these proposed methods, the prototype was tested by using a mannequin. Finally the experiment performed by human showed that driven with human intention detecting function, the device can reduce the load on human during standing-up motion.