Care-assisting Robots using Hydraulic Bilateral Servo

摘要

It is required that the actuator used for welfare apparatus should be excellent in safety, output torque, miniaturization and operation compared with the conventional actuator. As this system uses the antagonism by two hydraulic pressure cylinders, high output torque, smooth operation and high response characteristic is realized. In addition, this system is excellent in economical space and low noise and safety is high because of using no power unit such as oil tanke, pump and filter. This system gives wide-range and reliable adaptability to the nursing site as it is possible to control the master side from the slave side when power source or control signal is cut off. In this research Hydraulic Bilateral Servo System (HBSS) was applied to a diaper change assisting robot which is for being at home and a meal support was down by installing multi-functional hand. The posture control system for gait training is proposed as an application of the power return type bilateral servo system. Research to apply this newly developed actuator to broad range of care assisting robots, such as bathing assisting robot, transfer assisting robot, surgery assisting robot and power orthos are carried forward.