Development of an Assist Device for Caring with the Use of a Pneumatic Artificial Rubber Muscle
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- TAGAWA Yoshihiko
- 九州工業大学大学院工学研究院
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- MATSUKAWA Junya
- 九州工業大学大学院工学研究府
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- YANAGIDA Shigenori
- 三菱重工業株式会社長崎造船所
Bibliographic Information
- Other Title
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- 空気圧ゴム人工筋を用いた介助アシスト装置の開発
- 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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Abstract
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.
Journal
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- TRANSACTIONS OF THE JAPAN FLUID POWER SYSTEM SOCIETY
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TRANSACTIONS OF THE JAPAN FLUID POWER SYSTEM SOCIETY 41 (5), 85-91, 2010
The Japan Fluid Power System Society
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Keywords
Details 詳細情報について
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- CRID
- 1390001205255859200
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- NII Article ID
- 10029930307
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- NII Book ID
- AA11597760
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- ISSN
- 13467719
- 13497022
- 18803121
- http://id.crossref.org/issn/18803121
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- NDL BIB ID
- 10837075
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed