Sitting Assistance that Considers User Posture Tolerance

Daisuke Chugo, Masayu Koyama, Masahiro Yokota, Shohei Kawazoe, Satoshi Muramatsu, Sho Yokota, Hiroshi Hashimoto, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

Abstract

This paper proposes a novel sitting assistance robot, which considers the posture tolerance of its user. The standing and sitting motion are different essentially because the standing is lifting motion against gravitational force and sitting is posture coordination to sitting position according to the gravity. Therefore, the robot should lead the patient’s posture within a stable range during sitting and the required performance is different from standing assistance. However, in previous studies, conventional assistive robots used the sitting motion which is “reverse” motion of standing. Furthermore, these robots helped patients by using a fixed motion reference pathway in spite of their original intention, and as the results, these robots failed to assist by confliction between their intended motion and reference path. Therefore, we propose a novel sitting assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a standing to a sitting position. Our key findings cover two fundamental research topics. One is the investigation into posture tolerance during a sitting motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients sitting down safely according to their original intention.

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Paper Citation


in Harvard Style

Chugo D., Koyama M., Yokota M., Kawazoe S., Muramatsu S., Yokota S., Hashimoto H., Katayama T., Mizuta Y. and Koujina A. (2019). Sitting Assistance that Considers User Posture Tolerance.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 489-496. DOI: 10.5220/0007956104890496


in Bibtex Style

@conference{icinco19,
author={Daisuke Chugo and Masayu Koyama and Masahiro Yokota and Shohei Kawazoe and Satoshi Muramatsu and Sho Yokota and Hiroshi Hashimoto and Takahiro Katayama and Yasuhide Mizuta and Atsushi Koujina},
title={Sitting Assistance that Considers User Posture Tolerance},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={489-496},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007956104890496},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Sitting Assistance that Considers User Posture Tolerance
SN - 978-989-758-380-3
AU - Chugo D.
AU - Koyama M.
AU - Yokota M.
AU - Kawazoe S.
AU - Muramatsu S.
AU - Yokota S.
AU - Hashimoto H.
AU - Katayama T.
AU - Mizuta Y.
AU - Koujina A.
PY - 2019
SP - 489
EP - 496
DO - 10.5220/0007956104890496