Development of Motion Instruction System with Interactive Robot Suit HAL

摘要：

This paper proposes motion instruction system with the interactive robot suit HAL (Hybrid Assistive Limb) for supporting physically challenged persons, enhancing and expanding the human ability. HAL consists of external frames, actuators, various sensors, and a control PC with ethernet device and has not only been developed to assist the motion of wearers body, but also can be applied to motion instruction between the doctor and the patient in rehabilitation by building the unilateral/bilateral master-slave system with two HALs. In order to realize the motion instruction system, it is required to transfer the information of motion to each other. We performed fundamental experiments for unilateral/bilateral motion instruction between HALs to verify whether the system satisfies the required basic specification, and could confirm the effectiveness of the suggested system.

作者: Takeru Sakurai Yoshiyuki Sankai

作者单位: Graduate School of Systems and Information Engineering,University of Tsukuba Systems and Information Engineering,University of Tsukuba,1-1-1 Tennodai,Tsukuba,Ibaraki 305-8573,Ja

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1141-1147

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）