Platform Development of an Omnidirectional Mobile Robot for the Elderly’s Walking Support and the Caregiver’s Power Assistance
In this paper, we proposed a new concept for omnidirectional mobile robot that not only can fullill the walking support or walking rehabilitation for the elderly or the disabled, but also can realize power assistance for the caregiver when he/she holds the robot handle to move the robot while the elderly or the disabled is sitting in the seat. We postulated four necessary functions the robot should have and developed a testbed robot platform for verifying the necessary functions and the technologies being developed. The most basic function of the robot, omnidirectional mobility realized by two active dualwheel modules, is focused to discuss in detail. We first discussed the kinematics of an active dual-wheel module and pointed out that two modules are necessary to realize omnidirectional mobility. After we analyzed the omnidirectional mobility of two modules and derived the inverse kinematics of the robot, initiative and verification experiments are implemented and the robots omnidirectional mobility is experimentally verified.
Chi Zhu Masashi Oda Xiang Luo Hideomi Watanabe Yuling Yan
Department of Systems Life Engineering,Maebashi Institute of Technology,Kamisadori 460-1,Maebashi,Gu Department of Mechanical Engineering,Southeast University,China Department of Health Sciences,Faculty of Medicine,Gunma University,Japan school of Engineering,Santa Clara University,CA,USA
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
1900-1905
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）