NDLI: Measurement of human body stiffness for lifting-up motion generation using nursing-care assistant robot

Content Provider	IEEE Xplore Digital Library
Author	Ming Ding Ikeura, R. Mori, Y. Mukai, T. Hosoe, S.
Copyright Year	2013
Description	Author affiliation: RIKEN-TRI Collaboration Center for Human-Interactive Robot Res., RIKEN, Nagoya, Japan (Mori, Y.; Mukai, T.; Hosoe, S.) \|\| Dept. of Mech. Eng., Mie Univ. Tsu, Tsu, Japan (Ikeura, R.) \|\| RIKEN-TRI Collaboration Center, RIKEN, Nagoya, Japan (Ming Ding)
Abstract	In our research center, we have developed a nursing-care assistant robot - RIBA. This robot can lift up and transfer patient between bed and wheelchair using two human like arms. In this research, we proposed a new method to generate comfortable lifting-up motion automatically for using this robot. This method can reduce the pain feeling of patient during lift-up by setting robot arms to contact human body on the softest places. In order to measure the stiffness of soft human body, a stiffness sensor was developed, which has a large measurement range. We measured the stiffness on the back of upper body and thighs. From the measured data, we got an average stiffness distribution. In simulation, by controlling robot arm to lift human body up from the estimated softest place and minimizing the load of human body, we obtained a most comfortable robot motion. In experiment, all subjects felt this motion comfortable. The measured subjects' postures were also very close to the estimated value, which confirmed the effectiveness of stiffness measurement and motion generation method.
Starting Page	1
Ending Page	4
File Size	291899
Page Count	4
File Format	PDF
ISBN	9781467346429
ISSN	19300395
DOI	10.1109/ICSENS.2013.6688431
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Thigh Manipulators Joints Force Mobile robots
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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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
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Lift-up motion generation of nursing-care assistant robot based on human muscle force and body softness estimation

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Measurement of human body stiffness for lifting-up motion generation using nursing-care assistant robot — RIBA

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