Selecting Appropriate Self-transfer Support Equipment Based on User Physical Ability and Development of a New Self-stand Support Robot

在这项研究中，我们开发了一种新的站立支持机器人，并提出了一种算法来选择转移支持设备和适合用户的身体能力的机器人。根据体能的实验结果，我们将迁移运动分为以下四组：1）自站立，2）使用上/下护套，3）使用栏杆，4）使用站立支撑机器人，并开发了一种可以测量力和重心的体能测量系统用户的脚部的力和重心（Center of Gravity）、用户的臀部的力和重心（COG）、用户的手部的力以及用户的踝关节和膝关节的角度。并建立了适合使用者踝、膝关节体能的站立支撑设备及机器人选择流程图。

In this study, we develop a new standing support robot and propose an algorithm for selecting transfer support equipment and a robot that suits the user's physical ability. Based on experimental results of physical ability, we classified transfer motion into the following four groups : 1) Self-standing, 2) Using up/down sheat, 3) Using a railing, 4) Using a standing support robot and developed a physical ability measurement system that can measure the force and COG (Center of Gravity) of user's foot part, the force and COG of user's hip part, the force of user's hand part and angles of user's ankle and knee joint. We also established flowchart for selecting standing support equipment and a robot that suits the user's physical ability of ankle and knee joint.