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JRM Vol.28 No.4 pp. 600-608
doi: 10.20965/jrm.2016.p0600
(2016)

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Upper Body of Dummy Humanoid Robot with Exterior Deformation Mechanism for Evaluation of Assistive Products and Technologies

Kunihiro Ogata*, Tomoya Kawamura**, Eiichi Ono*, Tsuyoshi Nakayama*, and Nobuto Matsuhira**

*Research Institute, National Rehabilitation Center for Persons with Disabilities
4-1 Namiki, Tokorozawa City, Saitama 359-8555, Japan

**Department of Engineering Science and Mechanics, College of Engineering, Shibaura Institute of Technology
3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan

Received:
September 9, 2015
Accepted:
June 1, 2016
Published:
August 20, 2016
Creative Commons License
Keywords:
humanoid robots, dummy robots, spinal cord injury, dressing
Abstract
People suffering from tetraplegia are unable to perform many activities of daily living, such as dressing and toileting. The purpose of this study is to develop a dummy humanoid robot to assess assistive products and technologies for patients of tetraplegia. This paper describes the mechanism, motion planning, and sensing system of the dummy robot. The proposed dummy robot has upper-arm mechanisms that simulate the human collarbones based on a functional anatomy. To realize a variety of body shapes, the proposed robot has deformation mechanisms that use linear actuators and rotating servo-motors. The sensing system of the dummy robot can measure clothing pressure before and after exterior deformation is measured, and can hence detect changes in it.
Dummy robot with exterior deformation mechanism

Dummy robot with exterior deformation mechanism

Cite this article as:
K. Ogata, T. Kawamura, E. Ono, T. Nakayama, and N. Matsuhira, “Upper Body of Dummy Humanoid Robot with Exterior Deformation Mechanism for Evaluation of Assistive Products and Technologies,” J. Robot. Mechatron., Vol.28 No.4, pp. 600-608, 2016.
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