A Robotic Walker with Standing Assistance
This paper proposes a walker system with power assistance device for standing up motion.Our system focuses on family use for aged person who needs nursing in their daily life. Our key ideas are two topics.The first topic is new assistance manipulator mechanism with four parallel linkages.Our proposed manipulator mechanism requires only smaller actuators and realizes rigid structure with lighter linkages comparing with general manipulator.Thus,we can design our assistance system compactly with low-cost using our mechanism. The second topic is the combination of force and position control. According to the patients posture during standing up,our control system selects more appropriate control method from them.We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance.The performance of our proposed assistance system is verified by computer simulations and experiments using our prototype.
Force Assistance Standing up motion Force Control Position Control Active Walker
Daisuke Chugo Wataru Matsuoka Songmin Jia Kunikatsu Takase
Graduate School of Information Systems The University of Electro-Communinations 1-5-1,Chofugaoka,Chofu-shi,Tokyo 182-8585,Japan
国际会议
2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)
张家界
英文
452-457
2008-06-20（万方平台首次上网日期，不代表论文的发表时间）