Authors:
Daisuke Chugo
1
;
Masayu Koyama
2
;
Masahiro Yokota
3
;
Shohei Kawazoe
3
;
Satoshi Muramatsu
4
;
Sho Yokota
5
;
Hiroshi Hashimoto
6
;
Takahiro Katayama
7
;
Yasuhide Mizuta
7
and
Atsushi Koujina
7
Affiliations:
1
Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan, School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo and Japan
;
2
School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo and Japan
;
3
Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo and Japan
;
4
School of Science and Information and Telecommunication Engineering, Tokai University, Hiratsuka, Kanagawa and Japan
;
5
Faculty of Science and Engineering, Toyo University, Kawagoe, Saitama and Japan
;
6
Master Program of Innovation for Design and Engineering, Advanced Institute of Industrial Technology, Tokyo and Japan
;
7
Service Robot Division, Rt. Works Co., Ltd, Higashinari, Osaka and Japan
Keyword(s):
Sitting Assistance, Posture Tolerance, Robotic Walker.
Related
Ontology
Subjects/Areas/Topics:
Human-Machine Interfaces
;
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robotics and Automation
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.
(More)