This research aims at the development of an actuator in order to support the movement of waking up of an elderly person in a care service, and which is able to have a stroke of 6 times its natural size while keeping high rigidity, being light weighted and wearable. The motion of waking up to get onto a wheelchair or just to change posture is a heavy burden for caregivers. In order to lessen the burden of caregivers, an actuator which generates high displacement by pneumatic power is used as base. This actuator is composed of a spiral flat tube, and its straining method is investigated in order to keep high rigidity at all length displacement. This actuator is then mounted to a mannequin and a human body, and the control methods are proposed within the waking up motion. Through experiments, its effectiveness is confirmed.
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