| 摘要 |
PROBLEM TO BE SOLVED: To improve safety by providing an obstacle determination means in the lower portion of an upper limb supporting section, the upper portion of a frame or between both, executing downward command prohibition, upward command output at least once, and downward command prohibition cancellation for the frame by detection signals of the obstacle determination means. SOLUTION: A tape switch 20 for determining an obstacle is fixed to the longitudinal direction of the central channel member 17c of the base member of an upper limb supporting section through a fitting device 21. The tape switch 20 is comprised of tape-like upper and lower conductive plates and a backup plate supporting the conductive plates and has a projection provided in the center. If the projection hits an obstacle, and applies a force larger than a prescribed value, the upper and lower conductive plates touch each other and output an obstacle detection signal. Then a control means stops a motor, and stops a downward motion. And then upward movement is executed at least once. If an obstacle ceases to be detected, downward motion prohibition is cancelled. Thus safety can be improved. |
