Development and Applications of 3D-Free Weight Lightning System Using Spring Balancer

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1. Establishment of Fundamental Theory of Passive Dynamic Control (PDC)The passive dynamic control (PDC) is applied to the weight lightening system using the functionalized spring balancer. The PDC is a new control method for mechanical systems with less energy and more safety, and is based on the inherently safe design by having the balancing operation and the moving operation separately. We have established the fundamental theory of the PDC. Furthermore, in positioning control using the functionalized spring balancer, we have examined some methods to improve control performance, and checked its effectiveness through experiments.2. Development of Functionalized Spring BalancerWe have developed a functionalized spring balancer, which had an MR brake for the hold and a small motor for changing weight. We have also realized the speed control using property of the MR brake. Furthermore, we have examined a new mechanism of the spring system with some small spring elements, in order to ease weight adjustment and enhance safety for break of a spring.3. Estimation of Safety for 3D-Free Weight Lightning SystemWe have estimated the safety of the weight lightning system, and examined methods to enhance the safety.4. Application to Rescue Robot SystemWe have proposed a new type of rescue robot system using the weight lightning system, and have examined its safety. Furthermore, we have developed a system with long-stroke wire.5. Other ApplicationsWe have improved a sling for suspending a human. Furthermore, we have applied the proposed system to a walking support system, and a human support system for person working at high place.