NDLI: The wheel control of a robotic walker for standing and walking assistance with stability

Content Provider	IEEE Xplore Digital Library
Author	Chugo, D. Mastuoka, W. Songmin Jia Takase, K.
Copyright Year	2008
Description	Author affiliation: Grad. Sch. of Inf. Syst., Univ. of Electro-Commun., Chofu (Chugo, D.)
Abstract	This paper proposes a robotic walker system with standing and walking assistance device. Our system focuses on domestic use for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is combination of standing assistance function and walking assistance function. In previous works, many assistance devices are specialized in only ldquostanding-up operationrdquo or ldquowalking operationrdquo. However, in their daily life, elderly person requires standing, walking and seating assistance by a same device continuously. Our developing assistance system can support both operations by a small sized mechanism with low cost for domestic use. The second topic is standing assistance operation using assistance manipulator and active walker function. In order to maintain the stability of the patients during this motion, it is required to maintain the body balance of the patient into the range of his foot. According to the patientpsilas posture during standing up, our control system selects more appropriate controller for realizing his stability. The performance of our proposed control scheme is experimented by computer simulations and experiments using our prototype.
Starting Page	297
Ending Page	302
File Size	2062242
Page Count	6
File Format	PDF
ISBN	9781424422128
DOI	10.1109/ROMAN.2008.4600682
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-08-01
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots
Content Type	Text
Resource Type	Article

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