2001 Fiscal Year Final Research Report Summary
A Study of a Care Assisting Robotics with Hydraulic Bilateral Torque Feedback
| Project/Area Number |
11555073
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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 | 展開研究 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Denki University |
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Principal Investigator |
YUKIO Saito Tokyo DenkiUniversity,Department of science and engineering, Professor, 理工学部, 教授 (50057238)
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| Co-Investigator(Kenkyū-buntansha) |
石神 重信 防衛医科大学校, リハビリテーション部, 助教授
SHIGENOBU Ishigami National Defense Medical College, Department of Rehabilitation, Assistant Professor
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| Project Period (FY) |
1999 – 2001
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| Keywords | Equipment for welfare / Bilateral servo / Power feedback type / Power assistance / Care assisting robot / Diaper changing support robot, / Hydraulic power transmission mechanism |
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| Research Abstract |
1999 fiscal year:
(1) The experimental diaper changing support robot by bilateral servo was anufactured on this basic research with a target of an old person care for a physically handicapped old person, not using equipments with switches.
(2) The best diaper changing method is the posture as a mother changes a baby's one. Raising the hip of a person by 5cm, about 1/2 of weight hangs to the end effecter of robot arm. The robot has the high power of the output about 35kgf (It is 120kgf in the joint).
(3) The body weight of the diaper changing support robot is about 35kgf that is equal to the robot's output. This condition is the first effect in the industrial robot.
2000 fiscal year :
(1) The robot for the care assist for the elderly person to take a bath was designed. The 2 degrees of freedom of robot in 3 degrees of freedom are controlled by the bilateral servo system. The design condition of the weight is 60kgf, and taking the small bath moving from a wheelchair.
(2) The bubbles in a bilateral servo system must be removed and the improvement has been continued in this research since 1999.Moreover, the design was changed, because cylinders and pistons bend in long term use.
2001 fiscal year:
(1) The care assist bathing robot designed in 2000 fiscal year has been reexamined to be able to hold aperson.
(2) The cylinders for a bilateral servo were improved to the design for a practical use, and the trial pieces were manufactured. (The improvement goods were used as the diaper changing support robot, and exhibited to Robofesta Kanagawa 2001 held in October, 2001.)
(3) The cylinder for bi-articular drive was newly developed.
(4) The upper limb powered orthosis for cervical vertebrae damaged people was designed
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