Remaining force transferring mechanism for exoskeletal robot to operate wheelchair

Abstract

There are estimated to be approximately 3.5 million disabled people in Japan, and about half are handicapped in the lower or upper limb. Recently, exoskeletons have been receiving attention as potential aids for such individuals. They can make up for lost body muscle, and support walking or standing-up motions. Robots can assist disabled people by providing the force needed to support motion with the power of an actuator. When used for daily living, the operator must wear the robot mechanism in order to transfer its weight from operator to robot or peripheral device (e.g., control device, battery, compressor) for operation. Thus, the robot's usage environment is limited. We consider it important that as an assistance device supports the necessary motions of daily living, it does not affect the other motions of daily living. In the case of the disabled and elderly, often the end motor functions decline (such as the limbs), but medial region muscles remain, and these are huge. In this study, we focused on these groups of muscles. We developed a mechanism to transfer the remaining force to operational force in the hand, and designed an exoskeleton robot for the developed mechanism. In addition, we developed a control system that does not affect the operator's motion, but changes the mechanism via the original actuator when the operator is not using the robot.