@article{oai:kanazawa-u.repo.nii.ac.jp:00009169,
 author = {疋津, 正利 and 関, 啓明 and 神谷, 好承 and 吉本, 智},
 issue = {10},
 journal = {精密工学会誌論文集 = Journal of the Japan Society for Precision Engineering. Supplement. Contributed papers},
 month = {Jan},
 note = {福祉機器の1つとしてパワーアシスト付きの介護リフトがあるが, これまでは持ち上げる瞬間の衝撃力が考慮されていないため, 持ち上げる人が引き上げスピードの調整をすることによってこの衝撃力を小さくする必要があった. 本研究ではパワーアシスト装置の中にコンプライアンス制御を実装することによってゆりかごのようなソフトな動きを実現し, 引き上げ時の衝撃力の緩和を行った. Care lift is one of welfare machines. Most care lifts with power assistance lift up a handicapped person who has a disability in his legs like an industrial crane by applying the power of motor. However some care lifts bring the undesirable shock to a handicapped person because of the high-tension in its lift up motion. So the speed of lift up motion must be adjusted to decrease the power of shock. In this study, the method that can reduce the power of shock is proposed. It is suggested that the compliance control involved in the power assistance system of care lift can reduce the power of shock for the handicapped person at the moment of being raised.},
 pages = {1250--1254},
 title = {介護リフトのためのパワーアシスト技術の改善},
 volume = {71},
 year = {2005}
}