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2000 Fiscal Year Final Research Report Summary

Development of an Autonomous Transfer Machine by Using Pneumatic Bellows Actuators

Research Project

Project/Area Number 09650303
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionNara National College of Technology

Principal Investigator

HAYAKAWA Yasuhiro  Nara National College of Technology, Control Engineering, Associate Professor, 電子制御工学科, 助教授 (50180956)

Project Period (FY) 1997 – 2000
KeywordsRehabilitation Machine / Pneumatic / Transfer machine / Welfare / Pneumatic Actuator / Bellows / Cylinder / Force Sensing Ability
Research Abstract

In this study, I proposed a new type of an autonomous transfer machine. The machine is constructed with three mechanical parts which are lifting mechanical part, mobile part and suspension part. In the lifting mechanical part a cylinder for lifting is rotated by bellows actuators. Further, the supporter is attached to the tip of the cylinder rod. Moreover, the supporter is suspended with antagonized bellows actuators. The transfer mode is divided into three modes. Those are initial setting mode, transfer assist mode and standstill mode. The operator can change the transfer modes by using a switch box. In order to decrease the burden degree of the lifting motion, I investigated the lifting trajectory and the lifting posture by using the Quick Mag system. Further, the lifting force pattern of the machine to the user is considered. This is because that the user feels pain as he or she stands up from a chair when the lifting force is constant. From some experimental results, the lifting force equation is derived. The equation is constructed with initial holding force and the supporter position. Moreover, in order to investigate the burden degree which user feels when he or she lean on the supporter, both lactic acid and the pulse is measured. Furthermore, the center of gravity position is measured by using PcVector System. Through these results, it is cleared that the burden of degree to the user is reduced by change of the center of gravity position.

  • Research Products

    (47 results)

All Other

All Publications (47 results)

  • [Publications] 早川 恭弘: "空気圧アクチュエータを用いた移乗補助介護機器の開発"平成9年日本油空圧学会秋季油空圧講演会講演論文集. (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧アクチュエータを用いた介護補助用移乗機の開発"第15回日本ロボット学会学術講演会 講演論文集. (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧アクチュエータを用いた介護補助用移乗機の開発"IFPEX'97 第18回油圧・空気圧国際見本市 大学・研究室展出展内容説明. (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧ベローズアクチュエータを用いた移動式自動移乗機の開発"IFPEX'97 第18回油圧・空気圧国際見本市 大学・研究室展出展内容説明. (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧ベローズアクチュエータを用いた介護補助用移乗機の開発"奈良工業高等専門学校研究紀要. 第33号. (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "人間親和性を有する福祉介護用移動式移乗機の制御"第13回流体制御合同シンポジウム. (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 伊坂 忠夫: "介護動作の違いによる介護者の生体負担度の分析"第10回バイオエンジニアリング講演会講演論文集. (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuhiro HAYAKAWA: "Development of a Human Assist Transfer Machine by Using Pneumatic Bellows Actuators"Proceedings of the 3rd International Conference on Advanced Mechatronics. (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuhiro HAYAKAWA : "Development of an Automatic Transfer Machine with Human Compatibility by Using Pneumatic Actuators"Proceedings of 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "人間親和性を重視した介護機器の開発"日本油空圧学会フルイドパワーシステム. 第29巻・第6号. 539-544 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "人間親和性を重視した移動式介護補助用移乗機を開発"機械設計. 第42巻・第2号. 66-71 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧アクチュエータを用いた自立型移動式移乗機の開発"日本ME学会関西支部研究会. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧アクチュエータを用いた移動式移乗機の開発"平成11年度秋季フルイドパワーシステムワークショップ講演論文集. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧モータを活用した福祉介護用移動機構の開発"平成11年度秋季フルイドパワーシステムワークショップ講演論文集. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧アクチュエータを用いた移乗動作解析装置による介護者負担度の解析"平成11年度秋季フルイドパワーシステム ワークショップ講演論文集. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧アクチュエータを用いた福祉介護用移動機構の開発"第38回SICE学術講演会予稿集. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuhiro HAYAKAWA: "Development of an Autonomous Rehabilitation Machine with a New Type of Mobile Mechanism by Using Pneumatic Actuator"Proceedings of the 3rd International Symposium on Fluid Power Transmission and Control. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuhiro HAYAKAWA: "Development of an Autonomous Transfer Machine Using Pneumatic Actuators"Proceeding of the Fourth JHPS International Symposium on Fluid Power. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuhiro HAYAKAWA: "Development of an Autonomous Transfer Machine with Human Compatibility by Using Pneumatic Actuator "Proceedings of the European Medical & Biological Engineering Conference. (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "介護用自立型移動式移乗機-人間親和性を有する福祉介護機器の開発-"油空圧技術. Vol.38・No.7. 35-41 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "ワイヤ張力拮抗型ベローズアクチュエータを用いた回転駆動機構"機械設計. 第43巻・第10号. 112-112 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "シリンダ・ベローズアクチュエータによる柔軟駆動"機械設計. 第43巻・第10号. 113-113 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧モーターを用いたサーボ機構"機械設計. 第43巻・第10号. 114-114 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "フルイドパワーサーボの医療福祉分野への応用"日本油空圧学会フルイドパワーシステム. 第30巻・第3号. 236-241 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 伊坂 忠夫: "抱き起こし動作における介護者の生体負担の分析"人とシステム. 第4巻・第1号. 8-12 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Hayakawa: "SISTEMA PNEUMATICO peril trasferimento autonomo di disabili"OLEODINAMICA PNEUMATICA LUBRIFICAZIONE. Numero 11. 44-48 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuhiro Hayakawa : "Study on a Rehabilitation Machine by Using Pneumatic Actuators"Proceedings of the Developments in Fluid Power Control of Machinery and Manipulators, 2nd International Scientific Forum. (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 甲斐 義章: "空気圧アクチュエータを用いた福祉介護用移動式移乗機の開発"日本機械学会関西学生会学生員卒業研究発表講演会講演論文集. (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Yasuhiro Hayakawa : "Analysis of Standing up Motion by Welfare Transfer Machine using Pneumatic Actuators"Proceedings of the Fifth International Conference on Fluid Power Transmission and Control. (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 早川 恭弘: "空気圧による福祉・介護機器における人間とのインターフェース =機械的親和性を有するインターフェースについて="油空圧技術. 第40巻・第4号. 66-73 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Hayakawa, T.Yamamoto and N.Iseki: "Development of a Welfare Machine with Human Compatibility"Journal of the Japan Hydraulics and Pneumatics Society. Vol.29, No.6. 539-544 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] "Application to the Medical and Welfare Appliances Field of the Fluid Power Serve"Journal of the Japan Hydraulics and Pneumatics Society. Vol.30, No.3. 236-241 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Isaka, Shigetoshi, Hayakawa and Kawamura: "Analysis of Burden Degree of Raising Motion with Care Person"Journal of the System and Man. Vol.4, No.1. 8-12 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakawa: "Development of Mobile Type Welfare Transfer Machine with Human Compatibility"Mechanical Design. Vol.42, No.2. 66-71 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakawa: "Autonomous Transfer Machine for Welfare"Hydraulics and Pneumatics Technology. Vol.38, No.7. 35-41 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakawa: "Rotational Drive Mechanism by Using Antagonized Bellows Actuator"Mechanical Design. Vol.43.No.10. 112 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakawa: "Compliance Motion by Using Cylinder-Bellows Actuator"Mechanical Design. Vol.43, No.10. 113 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakawa: "Servo Mechanism by Using a Pneumatic Motor"Mechanical Design. Vol.43.No.10. 114 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakaw: "Interface with Human in Welfare Machine Using Pneumatic Actuators"Hydraulics and Pneumatics Technology. Vol.40, No.4. 66-73 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yasuhiro HAYAKAWA, Takashi YAMAMOTO, Noriyoshi ISEKI, Yuji AMANO, S.R.Pandian and Sadao KAWAMURA: "Development of a Human Assist Thansfer Machine by Using Pneumatic Bellows Actuators"Proceedings of the 3rd International Conference on Advanced Mechatronics. (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yasuhiro HAYAKAWA, Takashi YAMAMOTO, Noriyoshi ISEKI and Yuji AMANO: "Development of an Automatic Transfer Machine with Human Compatibility by Using Pneumatic Actuators"Proceedings of 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yasuhiro HAYAKAWA, Takashi YAMAMOTO, Noriyoshi ISEKI and Yuji AMANO: "Development of an Autonomous Rehabilitation Machine with a New Type of Mobile Mechanism by Using Pneumatic Actuator"Proceedings of the 3rd International Symposium on Fluid Power Transmission and Control. (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakawa, T.Yamamoto, N.Iseki, Y.Amano, S.R.Pandian and S.Kawamura: "Development of an Autonomous Transfer Machine Using Pneumatic Actuators"Proceeding of the Fourth JHPS International Symposium on Fluid Power. (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakawa, S.R.Pandian and S.Kawamura: "Development of an Autonomous Transfer Machine with Human Compatibility by Using Pneumatic Actuator"Proceedings of the European Medical & Biological Engineering Conference. (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yasuhiro Hayakawa: "Study on a Rehabilitation Machine by Using Pneumatic Actuators"Proceedings of the Developments in Fluid Power Control of Machinery and Manipulators, 2nd International Scientific Forum. (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakawa, Y.Kai, R.Tsuda and H.Inaduka: "Analysis of Standing up Motion by Welfare Transfer Machine using Pneumatic Actuators"Proceedings of the Fifth International Conference on Fluid Power Transmission and Control. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Hayakawa: "SISTEMA PNEUMATICO per il trasferimento autonomo di disabili"OLEODINAMICA PNEUMATICA LUBRIFICAZIONE. Numero 11. 44-48 (2000)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2002-03-26  

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