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DEVELOPMENT OF POWER ASSIST SUIT FOR ASSISTING NURSE CARRING PATIENT

协助护士抱病人的动力辅助服的研制

基本信息

批准号：
09558123
负责人：
YAMAMOTO Keijiro
金额：
$ 8.26万
依托单位：
KANAGAWA INSTITUTE OF TECHNOLOGY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1998
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09558123/
关键词：
Power assisting suit Holding up and down Master and slave system in one body Powered arm Powered waist Powered leg Muscle hardness sensors Pneumatic rotary actuators 抱き上げ・下ろし動作マスタ・スレーブ-体型

项目摘要

Powered suit developed in this project is to support muscular force of a attendant nurse in the sequential operation of holding up and down of a patient. The powered suit consists of shoulders, arms, waist and legs, and is fitted on the nurse to transmit the force directly to the arms, waist and legs of the nurse. The powered suit is originated with the concept of master and slave system in one body.The arms , waist and legs have the pneumatic rotary actuators. Two kinds of actuators were developed. One is the actuators consist of concentric round boxes sliding each other with infinitesimal clearance. The other is the actuator utilized cuffs inserted between aluminum plates connected each other with rings.The action of the arms , waist and legs of the nurse were sensed with muscle hardness sensors.Two kinds of the sensors were developed. One is the sensor utilizing a cavity with diaphragm mounted a sensing tip. The dent of the sensing tip corresponding to the hardness of the muscle i.e., exerting force muscle produces pressure signal. The other is the sensor using load cell with a sensing tip mounted on the sensing surface. These pneumatic actuators have the advantages of simple structure, compact size, light weight, has possibility to realize smooth movement with tender touch.Experiments proved that the powered suit using the rotary actuators and the muscle sensors have feasibility and is able to be adopted as the prototype for practical equipment.

本计画所研发的动力服，主要是为了支援护理人员在连续扶起与放下病人时的肌肉力量。动力服由肩、臂、腰、腿组成，穿在护士身上，将力直接传递到护士的臂、腰、腿。动力服的概念起源于主从一体系统，手臂、腰部和腿部都有气动旋转驱动器。开发了两种驱动器。一种是驱动器由同心圆盒组成，以微小间隙相互滑动。另一种是利用袖带夹在铝板之间，铝板之间用圆环连接，用肌肉硬度传感器感知护士手臂、腰部和腿部的动作，研制了两种传感器。一种是利用带有膜片的腔体的传感器，该腔体安装有传感尖端。感测尖端的凹陷对应于肌肉的硬度，即，施力肌肉产生压力信号。另一种是传感器使用的称重传感器与传感器安装在敏感表面上的尖端。这些气动执行器具有结构简单、体积小、重量轻、运动平稳、触感柔和等优点，实验证明，采用旋转执行器和肌肉传感器的动力服具有可行性，可以作为实际装备的原型。