Tactile-Based Motion Adjustment for the Nursing-Care Assistant Robot RIBA
In aging societies, there is a strong demand for robotics to tackle problems resulting from the aging population. Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair and back, is one of the most physically challenging tasks in nursing care. We have developed a prototype nursing-care assistant robot, RIBA, that can conduct patient transfer using human-type arms. The basic robot motion trajectories are created by interpolating several postures designated in advance. To accomplish more flexible and suitable motion, adjustment using sensor information is necessary, because the patient’s posture and positions in contact with the robot may differ slightly in each trial. In this paper, we propose a motion adjustment method in patient lifting using tactile sensors mounted on the robot arms. The results of experiments using a lifesize dummy are also presented.
Toshiharu Mukai Shinya Hirano Morio Yoshida Hiromichi Nakashima Shijie Guo Yoshikazu Hayakawa
RIKEN RTC,2271-130,Anagahora,Shimoshidami,Moriyama-ku,Nagoya 463-0003,Japan SR Laboratory,Tokai Rubber Industries,1,Higashi 3-chome,Komaki,Aichi 485-8550,Japan RIKEN RTC and Nagoya University,Furo-cho,Chikusa-ku,Nagoya 464-8601,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5435-5441
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）