ISO 18646-4:2021 ロボット工学—サービスロボットの性能基準と関連するテスト方法—パート4：腰部サポートロボット | ページ 6

3.1

robot

programmed actuated mechanism with a degree of autonomy, moving within its environment, to perform intended tasks

Note 1 to entry: A robot includes the control system and interface of the control system.

Note 2 to entry: The classification of robot into industrial robot or service robot is done according to its intended application.

[SOURCE: ISO 8373:2012, 2.6, modified — The words “actuated mechanism programmable in two or more axes” have been replaced with “programmed actuated mechanism”.]

3.2

wearable robot

robot that supplements or augments personal capabilities while attached to a human during use

Note 1 to entry: Wearable robots are referred to as restraint-type physical assistant robots in ISO 13482:2014.

3.3

lower-back support robot

wearable robot to reduce the load in the lower back of the user by its assistive force or torque

3.4

user

person who wears a wearable robot on his/her body and directly receives its assistive force or torque

3.5

restraint part

part of the wearable robot binding a corresponding attached body part of the user to transmit an assistive force or torque

3.6

assistive torque

output torque of the wearable robot to assist a user to perform required tasks

3.7

attached body part

part of the user’s body on which the restraint part of the wearable robot is attached

3.8

input method

interface allowing the user to control the assistive force or torque of the wearable robot by an appropriate input signal

3.8.1

biological input

input method where biological signals that are in correlation to the force or torque the user exerts at his/her body part intended for assistance are used as the input

Note 1 to entry: Biological signals include bioelectrical signals such as myoelectric signals.

3.8.2

kinematic input

input method where movement and/or posture of the user’s body parts intended for assistance are used as the input

Note 1 to entry: Biological input and kinematic input are mutually exclusive.

3.8.3

command input

any input method other than biological input or kinematic input

Note 1 to entry: Command input includes the use of commanding devices, breath switches or voice input.

Note 2 to entry: Command input includes the use of biological signals that are not in correlation to the force or torque the user exerts at the body part intended for assistance.

Note 3 to entry: Command input includes movement and/or posture of the user’s body parts not intended for assistance.

3.9

assistive torque index

ATI

measure of how much the output torque of the user is reduced when the user performs a specific movement during a specific time range using the lower-back support robot

Note 1 to entry: ATI is an absolute quantity with respect to the average torque during the specific time period of a specific test motion profile. It can be helpful for the relative comparison between robots.

3.10

lumbar compression reduction

LCR

measure of how much the compressive force on the user’s lumbar disks is reduced when the user performs a specific movement during a specific time range using the lower-back support robot

3.11

normal operating conditions

range of environmental conditions and other parameters which can influence robot performance (such as electrical supply instability, electromagnetic fields) within which the performance of the robot specified by the manufacturer is valid

Note 1 to entry: Environmental conditions include, for example, temperature and humidity.

[SOURCE: ISO 8373:2012, 6.1]

3.12

rate of assistance

measure of the reduced torque by a lower-back support robot integrated over the time period of a specific test motion profile

Note 1 to entry: Rate of assistance is a normalized quantity with respect to the integrated torque over the time period of a specific test motion profile. It can be helpful for the relative comparison for different test motion profiles within the robot.