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
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.
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