This paper proposes a design and control method of a supporting arm which reduces factory worker load. The supporting arm is a robot manipulator, which is driven by pneumatic cylinders, and is attached to the worker’s hip. In some situation, the factory worker is forced to work with an uncomfortable posture. By using the supporting arm, the worker leg loads are relaxed, and the worker posture is stabilized. To support 50 % weight of the worker, the link system of the supporting arm is designed, and the pneumatic cylinders for actuation are selected. There are two required specifications: (i) support force is sufficient for supporting target load, and (ii) desired stiffness characteristics in the hip height direction can be obtained. The support force is controlled by a two degrees of freedom control system to satisfy the required specifications. An experimental system of the supporting arm was developed, and its performance was evaluated by experiments. As a result, the experimental system shows capability of supporting the target weight and controllability of stiffness.

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