Experiments on burden measurement of human and transfer aid system for developing self-transfer aid system

The experiments on the burden measurement of human and a Transfer aid system were presented to develop a self-transfer aid system. A person with weak leg muscle who uses a wheel chair is assumed to be a target user. By using the transfer aid system, a user can transfer between a wheel chair and a toilet The mechanical concept is that a user puts his/her belly on a saddle of a robotic arm, and then the robotic arm raises a user. The experimental setup was fabricated to investigate the burden to human and the transfer aid system. It is confirmed that a long robotic arm is better to decrease the human's burden; however the robotic burden is increased. The opposite phenomena were obtained using a short robotic arm. By using the experimental results, a test system of a self- transfer aid system was fabricated.