Standing Assistance That Considers User Posture Tolerance
This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive...
Autores Principales: | Yokota, M., Kawazoe, S., Chugo, D., Hashimoto, H. |
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Universidad Tecnológica de Panamá
2018
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http://revistas.utp.ac.pa/index.php/memoutp/article/view/1880 http://ridda2.utp.ac.pa/handle/123456789/5721 |
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RepoUTP57212019-11-29T17:34:15Z Standing Assistance That Considers User Posture Tolerance Yokota, M. Kawazoe, S. Chugo, D. Hashimoto, H. Assistance; Posture Tolerance; Robotic Walker This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a xed motion reference path- way in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. Therefore, we propose a novel standing assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a sitting to a standing position. Our key ndings cover two fundamental research topics. One is the investigation into posture tolerance during a standing motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength. 2018-11-26 2018-12-04T14:32:09Z 2018-12-04T14:32:09Z info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion http://revistas.utp.ac.pa/index.php/memoutp/article/view/1880 http://ridda2.utp.ac.pa/handle/123456789/5721 spa http://revistas.utp.ac.pa/index.php/memoutp/article/view/1880/2826 info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Universidad Tecnológica de Panamá Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 79-88 |
institution |
Universidad Tecnológica de Panamá |
collection |
Repositorio UTP – Ridda2 |
language |
Español |
topic |
Assistance; Posture Tolerance; Robotic Walker |
spellingShingle |
Assistance; Posture Tolerance; Robotic Walker Yokota, M. Kawazoe, S. Chugo, D. Hashimoto, H. Standing Assistance That Considers User Posture Tolerance |
description |
This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a xed motion reference path- way in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. Therefore, we propose a novel standing assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a sitting to a standing position. Our key ndings cover two fundamental research topics. One is the investigation into posture tolerance during a standing motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength. |
format |
Artículo |
author |
Yokota, M. Kawazoe, S. Chugo, D. Hashimoto, H. |
author_sort |
Yokota, M. |
title |
Standing Assistance That Considers User Posture Tolerance |
title_short |
Standing Assistance That Considers User Posture Tolerance |
title_full |
Standing Assistance That Considers User Posture Tolerance |
title_fullStr |
Standing Assistance That Considers User Posture Tolerance |
title_full_unstemmed |
Standing Assistance That Considers User Posture Tolerance |
title_sort |
standing assistance that considers user posture tolerance |
publisher |
Universidad Tecnológica de Panamá |
publishDate |
2018 |
url |
http://revistas.utp.ac.pa/index.php/memoutp/article/view/1880 http://ridda2.utp.ac.pa/handle/123456789/5721 |
_version_ |
1796209606097108992 |
score |
12.040944 |