Development of an Autonomous Transfer Machine Using Pneumatic Actuators

In this paper, we propose a new type of Autonomous Transfer Machine (ATM) by making use of pneumatic actuators such as pneumatic cylinders and bellows actuators. In the lifting part, the lifting arm which is constructed with a cylinder is rotated by antagonized bellows actuators. Moreover, the support part that a user leans on is supported by antagonized bellows actuators. Since the bellows actuator has a force sensing ability that acts both a force sensor and an actuator, external force that the user leans on the supporter can be estimated. In the standing-up motion, the support part is controlled by both the inclination of the support part and the force difference between holding force and supporting force. Therefore, the lifting trajectory of the supporter can be realized by the posture of the user. In this paper, we clear the effectiveness of the ATM with the standing-up motion from experimental results.