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

Paper:

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

Received:
January 30, 2004
Accepted:
April 26, 2005
Published:
February 20, 2006
Keywords:
transfer aid, robotic arm, user burden, design of mechanical system
Abstract

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:
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