DocumentCode :
2645451
Title :
Steady standing assistance using active walker function
Author :
Chugo, Daisuke ; Kitamura, Takeya ; Jia, Songmin ; Takase, Kunikatsu
Author_Institution :
Univ. of Electro-Commun., Tokyo
fYear :
2007
fDate :
17-20 Sept. 2007
Firstpage :
3060
Lastpage :
3063
Abstract :
In our current research, we are developing a force assistance system for standing up motion. Our developing walker system realizes the standing up motion using the support pad with three degrees of freedom which is actuated by our proposed linkage mechanism. Furthermore, our walker system has a mobile function. In this paper, we develop the control scheme which realizes the natural standing up motion with safety and stability. For developing control scheme, we measure the typical standing up motion by the nursing specialist as control reference. In order to maintain the stability of the patients during this motion, it is required to move the zero moment point into the range of his foot. Therefore, we propose the novel control scheme for standing up motion using active walker function. The performance of our proposed control scheme is experimented by computer simulations.
Keywords :
biomedical equipment; couplings; force control; geriatrics; medical control systems; motion control; patient care; active walker function; force assistance system; linkage mechanism; standing up motion control; steady standing assistance; support pad; Aging; Computer simulation; Couplings; Foot; Information systems; Medical services; Motion control; Safety; Senior citizens; Stability; Active walker; Force control; Standing assistance; Zero moment point;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
Type :
conf
DOI :
10.1109/SICE.2007.4421516
Filename :
4421516
Link To Document :
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