The analysis of upper arm movement when a human lift up a dummy doll

In recent years, rapid aging in Japanese society advances and the care givers takes on large loads. Especially, transfer operation, such as a patient transfer from a bed to a wheelchair or back, is one of the most physically heavy tasks in nursing care. Therefore, there is strong demand for nursing assist system for them. We have developed the nursing-care assistant robot named RIBA that aimed to assist transferring a patient by lifting up. It is necessary to investigate how to transfer a human from a bed to a wheelchair or back. In this paper, we measure the lift up motion by human and analyze the skill of safety and efficient lift up in order to apply for base of the motion planning of RIBA. From analyzed results, a human can lift up the object only moving the arms small in front and rear. This means, it reduces the risk of dropping the object. Comparing with angle of the right and left arms, the angle of the head side arm is larger than the angle of the leg side arm. It recognized that the right and left arm take the different role when lifting up. Finally, we make the prototype lift up motion and implement to RIBA, and try to lift up the human.