書誌事項
- タイトル別名
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- Development of an Assist Device for Caring with the Use of a Pneumatic Artificial Rubber Muscle
- クウキアツ ゴム ジンコウキン オ モチイタ カイジョ アシスト ソウチ ノ カイハツ
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Aging is becoming a serious problem in Japan. Physical load during a caring operation may not be tolerable for the elderly and very often it produces secondary lesions in care assistants. Practical power-assist devices are highly desired in the field of caring or welfare. A Pneumatic Artificial Rubber Muscle (PARM) is noticed as an actuator of an assist device because it is flexible and has a high mass-power rate. In this study, we have developed an assist device for caring that uses PARM to reduce a physical load. A two-link arm was designed to assist caring motions. The position controller using a disturbance observer was applied to a two-link arm to correspond to the difference of weight of members in need of caring. The disturbance observer is effective in terms of not only compensation for disturbance, but also nominalization of a controlled object. Robustness of the employed disturbance observer is realized by internal stabilization. A two-link arm was controlled by the position controller, however, improvement such as enlarging the rigidity in a perpendicular direction is necessary for it.
収録刊行物
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- 日本フルードパワーシステム学会論文集
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日本フルードパワーシステム学会論文集 41 (5), 85-91, 2010
一般社団法人 日本フルードパワーシステム学会
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詳細情報 詳細情報について
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- CRID
- 1390001205255859200
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- NII論文ID
- 10029930307
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- NII書誌ID
- AA11597760
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- ISSN
- 13467719
- 13497022
- 18803121
- http://id.crossref.org/issn/18803121
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- NDL書誌ID
- 10837075
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可