NDLI: Standing assistance control using a physical strength of a patient with load estimation

Content Provider	IEEE Xplore Digital Library
Author	Chugo, D. Morita, Y. Sakaida, Y. Yokota, S. Kobayashi, H. Hashimoto, H. Takase, K.
Copyright Year	2012
Description	Author affiliation: Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan (Chugo, D.; Morita, Y.) \|\| Advanced Institute of Industrial Technology, Shinagawa, Tokyo 1400011, Japan (Hashimoto, H.) \|\| Graduate School of Information Systems, the University of Electro-Communications, Chofu, Tokyo, Japan (Takase, K.) \|\| Faculty of Science and Engineering, Setsunan University, Neyagawa, Osaka, Japan (Yokota, S.) \|\| Faculty of Engineering, Osaka Institute of Technology, Asahi, Japan (Kobayashi, H.) \|\| RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, RIKEN (The Institute of Physical and Chemical Research, Nagoya, Aichi, Japan (Sakaida, Y.)
Abstract	In our current research, we have developed a novel standing assistance system for an elderly person. Our developing assistance system is designed compactly for family use. Our system is based on a robotic walker with novel manipulator mechanisms on its body with four parallel linkages. In this paper, we propose the assistance control scheme which can use a remaining physical strength of a patient. In general, a previous assistive device does not require the patient to use own physical strength and it causes the decreasing the physical strength of elderly people. Our key ideas are two topics. One is the real-time load estimation scheme using a human model with measuring information by our assistance system. Using this scheme, our system can change the assistance force based on the estimated results. The other is novel control scheme which consists of position and damping control. Our proposed scheme can change two control modes frequently and using this function, our assistance device can reduce a part of the load which the patient wants to reduce. This means the patient can choose two functions with our standing assistance device; (1) reducing the load for easy to stand up by own physical strength or (2) using the physical strength maximally during standing motion for a rehabilitation purpose.
Starting Page	234
Ending Page	239
File Size	557999
Page Count	6
File Format	PDF
ISBN	9781467346047
ISSN	19449445
e-ISBN	9781467346061
e-ISBN	9781467346054
DOI	10.1109/ROMAN.2012.6343759
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-09
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Joints Couplings Senior citizens Actuators Damping DC motors
Content Type	Text
Resource Type	Article

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