Study of technical aid-for disabled person utilized hydraulic bilateral servo mechanisms

照顾卧床不起的老人最困难的动作是抬起身体的动作，比如洗澡、换尿布和从床上爬起来。该方法虽然有配重升降机和电动升降机，但由于开关的操作和支撑老人姿势的动作是同时进行的，因此需要两个以上的助手来操作开关。在本研究中，我们通过引入双侧伺服系统的力反馈伺服系统，对以电机为强动力源和油压平滑的双侧伺服力传递机构进行了系统化的研究。1997年的结果：第一年，我们试制了三种油压缸（phi20， phi30和phi50），分别用于主从侧，包括压力传感器和位移传感器。然后，通过直线驱动机构设计了将电机旋转力与主侧活塞直接连接的集成结构。因此，在组成减速比为25的齿轮箱双边伺服系统时，使用16瓦、缸径为phi30的交流电机，可以以1.8Hz的速度上下移动40kgf的重量。在位置控制的情况下，我们采用对称的双边伺服构造力反馈双边伺服系统。1998年的结果：第二年，我们在个人电脑上更换了伺服系统，然后获得了一个手指举起5Okgf重量的结果。我们刚刚构造了一个三自由度的多用途机器人。作为一个有趣的结果，我们通过获得平滑的运动来确认动力辅助源是一个福利装置，因为开环运动在没有反馈信号的情况下非常稳定。

The most difficult movements in care for old people confined to bed are motions to lift up a body such as bathing, changing a diaper and moving from bed. Although there were a lifter by counter-weight and a lifter with electric motor, more then two helpers were needed in the method to operate a switch because the switch operation and movements supporting a posture of old person were done at the same time.In this research, we have proceeded with a systematization of a force transfer mechanism by bilateral servo including motor as a strong power source and smoothness of oil pressure by introducing force feedback servo of bilateral servo system.Results in 1997 :In the first year, we manufactured by way of trial three kinds of oil pressure cylinders (phi20, phi3Oandphi50)using in both master and slave sides, which included a pressure sensor and displacement sensor. And then, we designed integration structure connecting motor rotational forces with a piston of master side directly though straight driving mechanism. As a result, we could move up and down 40kgf weight at 1.8Hz speed when composing bilateral servo system of gear box(reduction ratio : 25)by using AC motor of 16 watts in cylinder diameter ofphi30. In the case of position control, we use a symmetrical bilateral servo constructing a force feedback bilateral servo system.Results in 1998 :In the second year, we changed a servo system on personal computer and then obtained the result lifting up 5Okgf weight by one finger. We have just constructed a multipurpose robot with 3 degrees of freedom.As an interesting result, we confirmed a power assisting source as a welfare device by obtaining smooth motions because open loop movements are extremely stable in condition without feedback signal.