| Project/Area Number |
07458240
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Biomedical engineering/Biological material science
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| Research Institution | KANAGAWA INSTITUTE OF TECHNOLOGY |
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Principal Investigator |
YAMAMOTO Keijiro KANAGAWA INSTITUTE OF TECHNOLOGY・FACULTY OF ENGINEERING・PROFESSOR, 工学部, 教授 (00257411)
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| Co-Investigator(Kenkyū-buntansha) |
HYODO Kazuhito KANAGAWA INSTITUTE OF TECHNOLOGY・FACULTY OF ENGINNERING・ASSOCIATE RESERCHER, 工学部, 助手 (10271371)
MATUO Tkashi TOKYO MEDICAL AND DENTAL UNIVERSITY・MEDICAL RESERCH INSTITUTE・ASSOCIATE PROFESSO, 難治疾患研究所, 助教授 (00165771)
田口 幹 神奈川工科大学, 工学部, 教授 (00089822)
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| Project Period (FY) |
1995 – 1996
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| Project Status |
Completed (Fiscal Year 1996)
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| Budget Amount *help |
¥6,400,000 (Direct Cost: ¥6,400,000)
Fiscal Year 1996: ¥1,400,000 (Direct Cost: ¥1,400,000)
Fiscal Year 1995: ¥5,000,000 (Direct Cost: ¥5,000,000)
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| Keywords | Power assisting suit / Holding up and down / Master and slave system in one body / Powered arm / Powered waist / Powered leg / Pneumatic muscle hardness sensor / Pneumatic rotary actuator / パワードス-ツ / マスタースレーブ-体形 / 筋力硬さセンサ / 介護支援機器 / パワーアシストシステム / マスタスレーブ一体化システム / 導電性ゴム感圧センサ / パワードアーム / パワードレッグ |
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| Research Abstract |
Powered suit developed in this project is to support muscular force of a attendant nurse in the sepuential operation of holding up and down of a patient. The powered suit consists of shoulders, arms, waist and legs, and is fitted on the nurse to transmit the force directly to the arms, waist and legs of the nurse. The powered suit is originated with the concept of master and slave system in one body.
Four kinds of sensors to detect the motion of the arms, waist and legs of the nurse were developed, i.e., a sensing cuff, a strain gauge, a strain sensor made with conductive rubber and a pneumatic muscle hardness sensor. Two kinds of rotary actuator to rotate the joins of the elbow, waist and knee were developed, i.e., pneumatic rubber tube rotary actuator and pneumatic sliding boxes rotary actuator. These pneumatic actuators have the advantages of simple structure, compact size, light weight, has possibility to realize smooth movement with tender touch.
Experiments proved that the powered suit using the sliding boxes rotary actuators and the muscle sensors has feasibility and is able to be adopted as the prototype for practical equipment.
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