Abstract
In recent years, the world has been confronting issues related to an aging society, population decrease, and shortages of young workers. Those trends point to the increased development of devices to support human. A device that involves any contact with people must be safe, lightweight, and flexible. Therefore, we developed a device using a pneumatic cylinder to support a patient's upper limb motion. This supporting device has three modes corresponding to living activity support mode, rehabilitation and meal support. We designed control systems for these modes. We describe construction of our device and details of support functions. Then we use some experiments to evaluate function control systems. Results show that each control system provides good performance for supporting devices.
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