Assistance Control of Wheelchair Operation Using Active Cast for the Upper Limb
Many people of all ages have sustained cervical cord injury in traffic accidents or sport accidents, and consequently suffered physical impairment. For individuals with paralysis of the lower limb who have also lost the ability to extend the elbow, many motions become difficult to perform in daily life, for example, independently operating a wheelchair or pushing open doors. In the future, wearable assist robots are expected to be incorporated into daily life. In order to be wearable, the assist robot must not limit the user’s range of motion while being carried or used, and must be suitable for a wide range of situations. In this study, we developed an assist robot for upper limb movement which can assist wheelchair operation. To achieve this, we constructed a model of the upper limb during wheelchair operation with a manipulating force ellipsoid, and we developed an assistance control method for the upper limb using the device to apply force vectors. The effectiveness of the developed system is demonstrated experimentally.
Eiichi Ohara Tatsuya Watanabe Takeshi Oishi Takaaki Aoki Yutaka Nishimoto Ken’ichi Yano
School of Engineering,Human and Information Systems Division,Gifu University,1-1 Yanagido,Gifu City Dept. of Rehabilitation and Orthopedics,Gifu University Hospital,3-25 kawabe,Gifu City 501- 1198,Gif Dept. of Surgical Nursing,Gifu Univ. School of Medicine,1-1 Yanagido,Gifu City 501-1193,Gifu,Japan Dept. of Mechanical Engineering,Mie University,1577 Kurimamachiya-cho,Tsu City 514-8507,Mie,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
2223-2228
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）