IJAT Vol.14 No.4 pp. 615-624
doi: 10.20965/ijat.2020.p0615


Experimental Analysis and Anti-Sway Control of Jigiri Behavior in a Nursing Lift

Kazuhiro Funato*1,†, Yuichiro Kenmotsu*1, Ryosuke Tasaki*2, Toshio Sakakibara*3, Kiyoaki Kakihara*4, and Kazuhiko Terashima*1

*1Toyohashi University of Technology
1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan

Corresponding author

*2Aoyama Gakuin University, Sagamihara, Japan

*3Fukushimura Hospital, Toyohashi, Japan

*4KER Co., Ltd., Toyokawa, Japan

October 14, 2019
April 21, 2020
July 5, 2020
nursing lift, jigiri, anti-sway control

In today’s situation with high needs for care, a transfer work, among various assisting works, produces particularly large physical burden. The burden could result in not only diseases including waist pain but also resignation of care workers. A nursing lift used to reduce the burden lifts up a care receiver by using a wire or mechanical structure, causing sway. The sway not only makes the care receiver uncomfortable but also causes a risk of unintentional collision. To prevent such a situation, carers need to assist care receivers by holding them while simultaneously operating equipment and paying attention to the care receivers, which is not preferable from a viewpoint of work safety. In this study, we experimentally analyzed and discussed sway of a person when he/she is lifted up. On the basis of an analysis result, we propose an automatic control method of dynamical speed change for safe lifting works, which is applicable to ordinary nursing lifts.

Cite this article as:
Kazuhiro Funato, Yuichiro Kenmotsu, Ryosuke Tasaki, Toshio Sakakibara, Kiyoaki Kakihara, and Kazuhiko Terashima, “Experimental Analysis and Anti-Sway Control of Jigiri Behavior in a Nursing Lift,” Int. J. Automation Technol., Vol.14, No.4, pp. 615-624, 2020.
Data files:
  1. [1] Cabinet Office, “2018 White Paper on Aging Society (whole version).” [Accessed April 22, 2020]
  2. [2] Ministry of Health, Labour and Welfare of Japan, “2016 long-term care insurance business situation report (annual report).” (in Japanese) [Accessed April 22, 2020]
  3. [3] A. Garg, B. Owen, D. Beller, and J. Banaag, “A Biomechanical and Ergonomic Evaluation of Patient Transferring Tasks: Bed to Wheelchair and Wheelchair to Bed,” Ergonomics, Vol.34, No.3, pp. 289-312, 1991.
  4. [4] H. Wang and F. Kasagami, “A Patient Transfer Apparatus Between Bed and Stretcher,” IEEE Trans. on Systems, Man, and Cybernetics, Part B (Cybernetics), Vol.38, No.1, pp. 60-67, 2008.
  5. [5] H. Satoh, T. Kawabata, F. Tanaka and Y. Sankai, “Transferring-Care Assistance with Robot Suit HAL,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.76, No.762, pp. 227-235, 2010 (in Japanese).
  6. [6] H. Kobayashi, T. Aida, and T. Hashimoto, “Muscle Suit Development and Factory Application,” Int. J. Automation Technol., Vol.3, No.6, pp. 709-715, 2009.
  7. [7] Y. Sato, J. He, H. Kobayashi, Y. Muramatsu, T. Hashimoto, and H. Kobayashi, “Development and Quantitative Performance Estimation of the Back Support Muscle Suit,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.78, No.792, pp. 2987-2999, 2012 (in Japanese).
  8. [8] D. Yamamoto, A. Sadamoto, H. Nakamoto, J. Tanaka, I. Fukunaga, and H. Eto, “Transfer Assist Device for Care Service – Concept of Semi-Wearable Type –,” Proc. of the Robotics and Mechatronics Conf. 2014, 3P2-J03, 2014 (in Japanese).
  9. [9] S. Sato, S. Guo, S. Inada, and T. Mukai, “Design of Transfer Motion and Verification Experiment of Care Assistant Robot RIBA-II,” Trans. of the Japan Society of Mechanical Engineers Series C, Vol.78, No.789, pp. 1899-1912, 2012.
  10. [10] T. Mukai, S. Hirano, H. Nakashima, Y. Kato, Y. Sakaida, S. Guo, and S. Hosoe, “Development of a nursing-care assistant robot RIBA that can lift a human in its arms,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 5996-6001, 2010.
  11. [11] Y. Mori, R. Ikeura, and M. Ding, “Estimation of Care Receiver’s Position Based on Tactile Information for Transfer Assist Using Dual Arm Robot,” J. Robot. Mechatron., Vol.26, No.6, pp. 743-749, 2014.
  12. [12] Y. Nagata and T. Koda, “The influence of the motion of powered ceiling hoists on the subjective sense of safety,” Ergonomics, Vol.36, No.4, pp. 201-207, 2000 (in Japanese).
  13. [13] K. Funato, R. Tasaki, T. Miyoshi, K. Kakihara, and K. Terashima, “Design and Analysis of Novel Nursing Transformative Assistive Robot Comprised of Transfer and Omnidirectional Carrying,” J. of the Robotics Society of Japan, Vol.37, No.1, pp. 81-91, 2019 (in Japanese).
  14. [14] Y. Susa, A. Kato, A. Funakubo, and Y. Fukui, “Development of transfer equipment using power assist system,” Japan Soc. ME and BE, 2001 (in Japanese).
  15. [15] Y. Mori, N. Sakai, and K. Katsumura, “Development of a Wheelchair with a Lifting Function: Conceptual Design and the Verification Using a Scale Model and a Full-Sized Prototype,” J. of Life Support Engineering, Vol.23, No.3, pp. 108-115, 2011.
  16. [16] S. Esaka, H. Seki, Y. Kamiya, and M. Hikizu, “Development of Power-Assisted Care Lift,” J. of the Japan Society for Precision Engineering, pp. 67-68, 2009 (in Japanese).
  17. [17] A, Funakubo, H. Tanisiro, and Y. Fukui, “Power Assist System for Transfer Aid,” J. of the Society of Instrument and Control Engineers, Vol.40, No.5, pp. 391-395, 2001 (in Japanese).
  18. [18] Y. Ueno, H. Kitagawa, K. Kakihara, and K. Terashima, “Development of the Differential Drive Steering System Using Spur Gear for Omni-Directional Mobile Robot,” Trans. of the Japan Society of Mechanical Engineers Series C, Vo.78, No.789, pp. 1872-1885, 2012.
  19. [19] H. Kojima, T. Miyoshi, and K. Terashima, “Application of Power-Assisted Crane System Suppressing Limit-Cycle,” Proc. of JSME Annual Conf. on Robotics and Mechatronics (Robomec) 2006, pp. 2A1-B06(1)-2A1-B06(4), 2006.
  20. [20] T. Miyoshi, A. Niinuma, K. Terashima, and Y. Miyashita, “Development of Industry Oriented Power-Assisted System and Comparison with Conventional Machine,” Int. J. Automation Technol., Vol.3, No.6, pp. 692-699, 2009.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Feb. 25, 2021