Development of a Wearable Robot for Assisting Carpentry Workers
Development of a Wearable Robot for Assisting Carpentry Workers
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DOI：
10.5772/5667
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发表时间：
2006-10
影响因子：
2.3
通讯作者：
J. Naito;G. Obinata;Atsushi Nakayama;K. Hase
中科院分区：
文献类型：
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作者：
J. Naito;G. Obinata;Atsushi Nakayama;K. Hase
安装天花板的工作是木工中最难的工作之一，因为它需要很大的肌肉力量。因此，需要开发用于这种工作的辅助设备。为了在任何地方使用这种设备，可穿戴机器人是最合适的。由于机器人必须是自主的，重量轻，低功耗的设计提出。提出了一种利用弹簧的半主动控制方法，该方法耗能少，但满足柔度和助力的要求。本文介绍了研制样机的设计、控制和实验等几个方面。实验结果表明，该机器人通过提供适当的辅助力，减轻了木工工人的肌肉疲劳。
The work of fitting ceiling boards is one of the hardest in carpentry, as it requires large muscular power. Hence there is a need to develop assisting apparatus for such work. In order to use this apparatus anywhere a wearable robot is the most suitable. As the robot must be autonomous and lightweight, a design requiring low power is proposed. A semi-active control method has been developed using springs, which requires low energy but satisfies the requirements of compliance and assistive force. In this paper several aspects of design, control and experiments of the developed prototype is explained. The experimental results prove that the robot reduces the muscular fatigue of carpentry worker by providing suitable assistive force.