Development of Robotic Defecation Simulator
Koushi Tokoro*, Takuya Hashimoto**, and Hiroshi Kobayashi***
*Department of Mechanical Engineering, Graduate School of Engineering, Tokyo University of Science, 6-3-1 Niijuku, Katsushika-ku, Tokyo 125-8585, Japan
**Department of Engineering and Intelligent Systems, Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan
***Department of Mechanical Engineering, Tokyo University of Science, 6-3-1 Niijuku, Katsushika-ku, Tokyo 125-8585, Japan
The processing of human excretion has become a serious problem in two specialized environments – the nursing care of elderly bed-ridden patients and the microgravity space environments as the International Space Station. To deal with such issues, the authors are developing a new type of toilet system, and they feel that a defecation simulator is needed to investigate and test such systems. This paper discusses development of a robotic defecation simulator (defecation robot) that mimics defecation involving the rectum, anal sphincter, puborectalis muscle, abdominal pressure, etc.
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