Improvement of Maneuverability of Man-Machine System for Wearable Nursing Robots
Satoki Morishita, Takayuki Tanaka, Kazuo Yamafuji and Naoki Kanamori
Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan
Received:August 3, 1999Accepted:October 14, 1999Published:December 20, 1999
Keywords:man-machine system, nursing robot, maneuverability, force amplification, impedance control, self impedance matching method
We conducted R&D on wearable nursing robots as powered suits doubling as man-machine systems. In order to develop such a system, we studied physical static and dynamic considerations in designing assistance systems. We propose self-impedance matching (SIM) to evaluate system maneuverability based on energy flowing between the user and robot. The proposed SIM proved very effective in improving single-arm assistance maneuverability.
Cite this article as:S. Morishita, T. Tanaka, K. Yamafuji, and N. Kanamori, “Improvement of Maneuverability of Man-Machine System for Wearable Nursing Robots,” J. Robot. Mechatron., Vol.11 No.6, pp. 461-467, 1999.Data files:
Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.