DocumentCode :
3104938
Title :
Human balance measurement and human posture assist robot design
Author :
Takahashi, Yoshihiko ; Takahashi, Hideydu ; Sakamoto, Kouichi ; Ogawa, Shinobu
Author_Institution :
Kanagawa Inst. of Technol., Japan
fYear :
1999
fDate :
36373
Firstpage :
983
Lastpage :
988
Abstract :
A human posture assist robot for elderly and disabled persons, with badly balanced physique is proposed. The robot has a structure with two joints of an ankle, a waist, and a foot force pad. The robot can raise the patient when he/she happens to fall down by sensing the body balance. The human balance is detected by a foot force pad where strain gages are embedded. We have fabricated the scale-down experimental setup to confirm the principle of the human posture assist robot. The program developed can simulate the responses of the classical control and H2 control
Keywords :
handicapped aids; man-machine systems; motion control; robot dynamics; strain gauges; body balance; disabled persons; elderly persons; foot force pad; human posture assist robot; man machine system; strain gages; two link structure; Aging; Anthropometry; Capacitive sensors; DC motors; Foot; Humans; Potentiometers; Rehabilitation robotics; Robot sensing systems; Strain measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE Annual, 1999. 38th Annual Conference Proceedings of the
Conference_Location :
Morioka
Print_ISBN :
4-907764-13-8
Type :
conf
DOI :
10.1109/SICE.1999.788684
Filename :
788684
Link To Document :
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