肢体不自由者向けの携帯型食事支援ロボットアームの試作

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/10/01

タイトル(英語): Trial Development of a Mobile Feeding Assistive Robotic Arm for People with Physical Disabilities of the Extremities

著者名: 上原　英之（琉球大学工学部電気電子工学科），比嘉　広樹（琉球大学工学部電気電子工学科），祖堅　敬（琉球大学工学部電気電子工学科），波平　宜敬（琉球大学工学部電気電子工学科）

著者名(英語): Hideyuki Uehara (Department of Electric and Electronics Engineering, University of the Ryukyus), Hiroki Higa (Department of Electric and Electronics Engineering, University of the Ryukyus), Takashi Soken (Department of Electric and Electronics Engineering, University of the Ryukyus), Yoshinori Namihira (Department of Electric and Electronics Engineering, University of the Ryukyus)

キーワード: ロボットアーム，食事支援，肢体不自由，携帯型システム　　Robotic arm，feeding assistance，physical disabilities of the extremities，mobile system

要約(英語): A mobile feeding assistive robotic arm for people with physical disabilities of the extremities has been developed in this paper. This system is composed of a robotic arm, microcontroller, and its interface. The main unit of the robotic arm can be contained in a laptop computer's briefcase. Its weight is 5kg, including two 12-V lead acid rechargeable batteries. This robotic arm can be also mounted on a wheelchair. To verify performance of the mobile robotic arm system, drinking tea task was experimentally performed by two able-bodied subjects as well as three persons suffering from muscular dystrophy. From the experimental results, it was clear that they could smoothly carry out the drinking task, and that the robotic arm could firmly grasp a commercially available 500-ml plastic bottle. The eating task was also performed by the two able-bodied subjects. The experimental results showed that they could eat porridge by using a spoon without any difficulty.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.10 （2011） 特集：再生可能エネルギーの出力変動対応技術

本誌掲載ページ: 1752-1759 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/10/131_10_1752/_article/-char/ja/