NDLI: Prototype design of robotic mobility aid to assist elderly's standing-sitting, walking, and wheelchair driving in daily life

Content Provider	IEEE Xplore Digital Library
Author	Takahara, S. Seonghee Jeong
Copyright Year	2014
Description	Author affiliation: Div. of Mech. & Control Eng., O.E.C. Univ., Neyagawa, Japan (Takahara, S.; Seonghee Jeong)
Abstract	In this paper, a robotic mobility aid was proposed, which aims at assisting the elderly's active mobility in a daily life. A prototype of the devices was designed and constructed, and its mechanical structure and control system configuration was described. It consists of a wheeled balancing mobile platform, a 3 D.O.F waist part with a parallel mechanism, and a dual manipulator with 4 D.O.F. The elderly's physical motions to move, standing-sitting and walking, from such a bed to the other place could be assisted by the device. In addition, it is also capable of assisting a wheelchair driving by using the dual manipulator. The waist part is able to support user's heavy weight owing to the parallel link mechanism, and to assist user's motion based on the information from a 6 axis force/torque sensor. Since the wheeled balancing mobile platform with an overturning prevention equipment has a compact structure, a user can easily and safely moves even in a complicated environment. Pitch and roll motions were demonstrated by the distributed control system implemented on the prototype robotic mobility aid.
Starting Page	470
Ending Page	473
File Size	1361665
Page Count	4
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6988047
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	Legged locomotion Walking Torque Wheelchairs Standing-sitting Wheelchair driving Wheeled balancing system Mobility aid Robot sensing systems Batteries
Content Type	Text
Resource Type	Article

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