Study on Wire Suspended Power Assistance System Using Wearable Force Sensor

银代的就业保障在日本是一个非常重要的社会问题。因此，本研究的目的是构建一种能够减轻老年人负重的助力系统。首先，研究人员假设人体由13个刚性部件构成，开发了通过测量双臂、双腿、身体和头部的加速度来估计对环境施加的力的人体力观测器。最后，将该技术与桥式起重机相结合，成功地实现了60 kg重物的移动。

It is a very important social problem that a silver generation' s employment is secured in Japan. Therefore, our purpose is the construction of a power assistance system which can deal with a heavy load lightly in elderly people.First, researchers assumed the human body was constructed by the rigid parts with 13 links, and developed the human force observer which estimated the applied force toward the environment by measuring acceleration of both arms, both legs, the body, and the head.Next, the floor-reaction-force sensor, which could measure the human applied force to the floor, was build using the lamination rubber.Finally, such technology was combined and it succeeded in moving a heavy load with a mass of 60 kg by the proposed power assistance system using the overhead traveling crane.