JRM Vol.18 No.1 pp. 4-10
doi: 10.20965/jrm.2006.p0004


Basic Study on Self-Transfer Aid Robotics

Yoshihiko Takahashi*, Go Manabe*, Katsumi Takahashi*,
and Takuro Hatakeyama**

*Department of System Design Engineering, Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi, Kanagawa 243-0292, Japan

**Faculty of Rehabilitation, Seijoh University, 2-172 Fukinodai, Tokai City, Aichi 476-8588, Japan

January 30, 2004
April 26, 2005
February 20, 2006
transfer aid, robotic arm, user burden, design of mechanical system

We conducted burden measurement experiments on users and aid transfer equipment to develop a self-transfer aid system for users. The users targeted were people with impaired legs who use a wheelchair, however are able to walk to some extent. With aid transfer, these users can maneuver themselves independently to and from apparatus, in this case, toilets. In practice, users lean their upper-bodies onto the saddle of a robotic arm, which lifts and transfers them to their destination. The experimental setup was developed to determine the burden on users and transfer aid devices. We confirmed that a longer robotic arm decreases the burden on users, and increases the burden on the robot, whereas the reverse holds true for a shorter arm. Based on experimental results, we have built a self-transfer aid test system.

Cite this article as:
Yoshihiko Takahashi, Go Manabe, Katsumi Takahashi, and
and Takuro Hatakeyama, “Basic Study on Self-Transfer Aid Robotics,” J. Robot. Mechatron., Vol.18, No.1, pp. 4-10, 2006.
Data files:
  1. [1] S. Hashino, “Review of Transfer System for the Handicapped,” J. of Robotics Society of Japan, Vol.11, No.5, p. 649, 1993.
  2. [2] K. Hayakawa, J. of Japan Hydraulics and Pneumatics Society, Vol.28, No.1, p. 40, 1997.
  3. [3] T. Tsuruga, S. Ino, T. Ifukube, M. Sato, T. Tanaka, T. Izumi, M. Muro, and Y. Wakisaka, “The Study of Human Motion Patterns for Developing a Transfer Aid System for the Elderly,” Trans. of Institute of Electrical Engineers of Japan, A, Vol.118, No.3, p. 239, 1998.
  4. [4] M. Fujie, “Robot and Mechatronics Equipment for Daily Life Support in High-Elderly and Small Number of Child Society,” J. of Japan Society of Mechanical Engineers, Vol.100, No.944, p. 750, 1997.
  5. [5] O. Tanaka et al., J. of Japanese Society of Prosthetics and Orthotics, Vol.5, p. 201, 1989.
  6. [6] Y. Miyata, Shin Seiri-Shinri-Gaku (Physiological Psychology), Vol.1, Kita Ooji Shobou, Japan, 1998.
  7. [7] R. Yatani, and K. Ogawa, Kin no Kinou-Kaibou, 4th edition, Igaku-Shoin, Japan, 1993. (Japanese translation of “The Extremities and The Head, Neck and Trunk” by J. H. Warfel, Lea & Febiger, U.S.A.)
  8. [8] M. Okabe, and S. Okajima, Byoki ga wakaru karada no tebiki (Guide of Human body), Shougakukan, Japan, 1996.
  9. [9] Shin nihonjin no tairyoku hyoujunchi (Standard of Physical Strength of Japanese), Tairyoku hyoujunchi Kenkyoukai, Tokyo Metropolitan University, Aimai Do, Japan, 2000.

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

Last updated on Mar. 05, 2021