A study on the path of an upper-body support arm used for assisting standing-up and sitting-down motion

M. Tomita*, T. Ogiso, Y. Nemoto, M. G. Fujie

*この研究の対応する著者

研究成果: Article査読

10 被引用数 (Scopus)

抄録

We are developing basic technology for a walking-support system. As part of this technology, we have determined the best support-arm path for assisted standing-up and sitting-down motion of an elderly person who can sit but cannot stand up. We developed a program for analyzing the load acting on lower-limb joints during the motion. Experimentally measured joint positions and floor-reaction force enabled us to calculate joint torque during motion along several paths by using the Newton-Euler formulation. And we evaluated the supporting performance of the paths of a machine arm. These calculations indicate that a linear interpolating path minimizes the necessary joint torque for assisting standing-up or sitting-down motion. A sensory evaluation test showed that users tend to feel comfortable when the path shape is similar to that of unassisted motion and when hip trajectory is smooth.

本文言語English
ページ(範囲)949-956
ページ数8
ジャーナルJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
43
4
出版ステータスPublished - 2000 12月
外部発表はい

ASJC Scopus subject areas

  • 産業および生産工学
  • 機械工学

フィンガープリント

「A study on the path of an upper-body support arm used for assisting standing-up and sitting-down motion」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル