トイレにおける衣服脱着支援システム

摘要

Care of toilet operation needs large corporal burden of care worker. Simultaneously, the cared elderlyperson has to feel mental burden for asking hard corporal loads. Now, it is used to cope with regular exchange of hipbundle etc. It is far from comfortable being. The final goal of this research is to take-out the person from a bed and toreturn to the bed. The most difficult parts of the robot system are to remove and wear the trousers. This paperreports about the recognition of a clothes boundary and the mechanism of finger insertion to trousers.