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This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a xed motion reference path- way in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. Therefore, we propose a novel standing assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a sitting to a standing position. Our key ndings cover two fundamental research topics. One is the investigation into posture tolerance during a standing motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength.

The purpose of this research is to develop the assistive caster unit of manual wheelchair for step climbing. This unit is easily replaced with the conventional caster, only a spanner is needed. In addition this caster is simple mechanism, and the power source is only a 006P battery, there is no microcontroller. For realizing this simplicity, The proposed caster unit has two functions to assist the step climbing. One is the assistive plates to enlarge the caster radius imaginarily in the confined front area of the wheelchair, and to enable to climb a higher step. The other is the lock function to fix the caster’s swiveling, which realize easy climbing with oblique approach. The lock-function is activated by the detection of the step, and mechanically fixes the caster’s swiveling. We have developed some prototypes of this caster unit, so far. However, the problem is still remained in the step detection method being the trigger of activation of the lock function. Therefore, this paper proposes the improved activation method by detecting the step at an instant of touching it.