Development of a Soft Clothes-type Robot with Easiness to Wear

近年来，在日本的超老龄化社会中，以多种方式开发外骨骼以支持老年人的工作和活动。然而，目前，即使在康复领域中，外骨骼也被用于特定的情况，因为穿上外骨骼的过程需要很长时间、穿着不舒适以及成本高。在本研究中，我们试图开发一种服装型机器人，以简化穿上它的过程，并舒适穿着。服装型机器人包括形状记忆合金（SMA）致动器，以支持抬起主机的下肢。我们以瘫痪病人爬楼梯的运动为目标，尝试开发硬件和软件。

Recently, in the super-aged society in Japan, exoskeletons are developed in many ways to support works and activities of elderly people. However, in present, exoskeletons are used in particular situation even though in rehabilitation field because process to put on exoskeletons takes long time, uncomfortableness to wear, and high cost. In this research, we tried to develop a clothes-type robot to ease the process to put on it and to comfort wearing. The clothes-type robot includes shape memory alloy (SMA) actuator to support lifting up the host's lower limb. We set a movement to climb stairs by paralyzed patients as a target, and tried to develop hardware and software.