Toshihiko Yasuda

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A one-hand drive wheelchair with power assist mechanism is developed. We propose a manipulation mechanism with a triple ring and three assist functions, which are power assist function, the maximum velocity limiting function on the downward slope, the reverse prevention function on the upward slope. These functions reduce the physical load of user and(More)
We have proposed a one hand drive wheelchair with the original manipulation mechanism and the power assist mechanism. Recently, we have developed a new type assist unit, which had a new ON/OFF mechanism constructed by link and sliding mechanism, in order to realize the sure assist torque transformation. During assist, this new assist unit surely keeps the(More)
A one hand drive wheelchair with power assist mechanism is developed. In this investigation, we propose a simple and useful manipulation torque detection method which yields wide detection areas with uniform distribution of stress. This method can be applied to a one hand drive wheelchair with complicated structure of manipulation mechanism with three(More)
In this paper, an assist method for human operation of electric-powered wheelchairs is studied. The purpose of this research is to make powered wheelchairs intelligent and to realize a mobility aid for people, who find it difficult or impossible to drive a conventional wheelchair. On a prototype of our group, a neural network produces an obstacle avoidance(More)
We have been developed an original one hand drive wheelchair. This wheelchair has the original manipulation mechanism with a triple ring and power assist units, which realize some assist functions, the power assist function, the reverse prevention function on upward slops and so on. Furthermore, we have proposed a simple and useful manipulation torque(More)
Weight saving is required at ends of robot arms. This research proposes an extremely lightweight gripper which twines helically. It is composed of an inflatable soft actuator by utilizing plastic films with pleated structures. There are two advantages to the gripper (1) The improvement of the force generated by the increase in the contact area with the(More)
We have been produced a one hand drive wheelchair, which has the original manipulation mechanism with a triple ring and oower assist units. In this wheelchair, some assisi functions realize comfortable drive. In this paper, we newly develop an assist function of the one hand drive wheelchair, which realizes a step climb by using wheelie. We propose a(More)
A one-hand drive wheelchair with power assist mechanism is developed. We have proposed a manipulation mechanism with a triple ring and some assist functions. In this paper, the effect of the assist function compensating an increase of the running resistance is newly discussed The effectiveness of the assist functions is verified through experiments using a(More)
Some people with physical disabilities have difficulty transferring alone. Many of them want to transfer by themselves without depending on caregivers. We have been advancing research on “self-transfer assistance robot” based on the concept that a care receiver can transfer alone. However, since the self-transfer assistance robot helps(More)