Improvement of Maneuverability of Man-Machine System for Wearable Nursing Robots

Satoki Morishita; Takayuki Tanaka; Kazuo Yamafuji; Naoki Kanamori

doi:10.20965/jrm.1999.p0461

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JRM Vol.11 No.6 pp. 461-467

doi: 10.20965/jrm.1999.p0461

(1999)

Paper:

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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, 1999

Accepted:

October 14, 1999

Published:

December 20, 1999

Keywords:

man-machine system, nursing robot, maneuverability, force amplification, impedance control, self impedance matching method

Abstract

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.

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