著者

尾形 邦裕 國吉 康夫

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.33, no.6, pp.470-480, 2015 (Released:2015-08-15)

参考文献数

34

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It is so difficult for many people to handle other's body. Japan's aging population, the skill of lift-up motion and transfer motion is needed in the nursing care field. Utilizing self body dynamics and understanding other's movement are important to these nursing-care motions. Yoshinori Kouno, who has studied several skills related to physical, including martial arts and nursing-care motions, as the participant, we studied these motions and analyzed the techniques that were superior to other motion skills. From measurement result of pulling-up motion, we find acceleration of center of mass increases sharply by discontinuous change of zero moment point, Kouno pulled other's body up using the instantaneous. To pull the standing other's body, Kouno uses strategy of ``falling momentum,'' and Kouno constrains the movement of his arms. Therefore, we conclude that knacks of pulling-up motion are the changing ZMP by the stepping motion and constraining the arm joints. Based on these analysis result, we construct the dynamics model and control strategies, confirmed by numerical analysis and dynamic simulation. Then, to confirm the effectiveness of these skills, we perform the validation experiments on general participants instructed with these knacks.