Psychological evaluation of simple self-transfer aid robotic system with horizontal movement system

摘要

We have developed a simple self-transfer aid robotic system and have conducted psychological evaluation experiments regarding the horizontal movement of the device. The users targeted are people with impaired walking ability who use a wheelchair, however are still able to walk to some extent. With the self-transfer aid robotic system, these users can maneuver themselves independently to and from a toilet seat or a bed, for example. To operate, users lean their upper-bodies onto the saddle of a robotic arm, which lifts and transfers them to their destination. This paper describes a horizontal movement system used to improve the self-transfer aid robotic system. With the improved system, users are able to move horizontally while they are lifted on the saddle. We have conducted experiments on user psychological burden during the use of the horizontal movement system, and discuss the effects on the user according to the speed of operation.