NDLI: Control method of a human support robot for independent living by center of gravity information of upper body

Content Provider	IEEE Xplore Digital Library
Author	Bo Shen Shuoyu Wang Yinlai Jiang Yina Wang
Copyright Year	2013
Description	Author affiliation: Sch. of Syst. Eng., Kochi Univ. of Technol., Kochi, Japan (Bo Shen; Shuoyu Wang; Yinlai Jiang; Yina Wang)
Abstract	For the patients with disabled lower limbs, independent living is difficult to perform and the subsequent lack of physical exercises of their upper body in daily life may cause disuse syndrome. In order to assist the patients to live independently and exercise their upper body in daily life, a human support robot (HSR) is developed, and a novel control method, using the upper body gravity information, is proposed to control the HSR. Based on the information of upper body's center of gravity(COG), the HSR can move according to the user's intention. Under the assistance of the HSR, patients can move to any direction by shifting their upper body. Four force sensors are used to measure the user's weight distribution. Through analyzing the force data from 4 sensors, user's motion intention can be inferred by the proposed intention recognition method, and then it is used to control the HSR to move in the intended velocity. To distinguish the moving intention and the stationary intention, a parameter of intention strength is introduced. At last, an experiment is conducted to verify the performance of control method.
Starting Page	384
Ending Page	389
File Size	1180932
Page Count	6
File Format	PDF
ISSN	23250690
e-ISBN	9781479925193
DOI	10.1109/ICAMechS.2013.6681813
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Human support robot Center of gravity(COG) Robot control Force sensor Kinetic theory Sensors Motion intention
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Gravity Compensation and Full-Body Balancing for Humanoid Robots

Force and Acceleration Sensor Fusion for Compliant Robot Motion Control

Property of force-free control with independent compensation for inertia, friction and gravity of industrial articulated robot arm

Three-dimensional virtual force sensing for kinetic interaction with a robot

Whole-body force sensation by robot with outer shell

Model Based Position-Force-Vision Sensor Fusion for Robot Compliant Motion Control

Impact force reduction for biped robot based on decoupling COG control scheme

A methodology for specifying and controlling compliant robot motion

Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor

Control method of a human support robot for independent living by center of gravity information of upper body

Similar Documents

Gravity Compensation and Full-Body Balancing for Humanoid Robots

Force and Acceleration Sensor Fusion for Compliant Robot Motion Control

Property of force-free control with independent compensation for inertia, friction and gravity of industrial articulated robot arm

Three-dimensional virtual force sensing for kinetic interaction with a robot

Whole-body force sensation by robot with outer shell

Model Based Position-Force-Vision Sensor Fusion for Robot Compliant Motion Control

Impact force reduction for biped robot based on decoupling COG control scheme

A methodology for specifying and controlling compliant robot motion

Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor

Control method of a human support robot for independent living by center of gravity information of upper body