Establishment of the robotic mobility aidtechnology having minimal invasiveness in historical environments

这项研究的最终目标是在不破坏环境真实性的情况下，为轮椅使用者在具有文化意义的环境中实现顺畅和友好的移动方式，例如日本历史上的木结构建筑和城堡废墟。本着这一目标，实现了对爬楼梯轮椅的改进、扶手夹持器的研制和直接以人的运动动力为动力源的关节控制机构的研制。此外，通过对日本历史建筑的调查，考虑了在历史环境中具有最小侵入性的移动辅助系统的功能要求。

The final target of this study involves realizing a smooth and hospitable means of locomotion for wheelchair users in environments having a cultural meaning, such as historical Japanese wooden buildings and castle ruins, without tampering with the authenticity of the environment. With this goal in mind, improvement of the stair-climbing wheelchair, development of the handrail gripper forfall prevention, and development of the joint control mechanism by directly using a power of human’s motion as its power source, has been achieved. Furthermore, consideration on the functional requirements of the mobility aid system having minimal invasiveness in historical environments has been done through the investigation of the Japanese historical buildings.