2A1-J06 要介護者向け装着型アシスト装置の最適機構設計のための運動解析

Abstract

Recently, the number of the fatal accident of elderly people has been increasing in Japan. Development of wearable assist systems for elderly people is studied as one of countermeasure. But, size of assist machines grows bigger and weight gets heavier, if its degree of freedom increases so as to prevent obstructing the movement of human. The purpose of this study is to extract the major modes of sit-to-stand movement using handrail for design small and lightweight assist machine by assign degree of freedom on the optimal positions. Measurement of sit-to-stand movement was used motion capture system. The major modes were extracted by the mode analysis. As the result of analysis, the coxa and knee flexural extension, adduction and abduction ware identified as major modes of human sit-to-stand movement. These motion ware inferred from preceding studies that it indicate the movement to lift a body and to stabilize posture.