DocumentCode :
3754723
Title :
An independent life support robot for the lower-limb handicapped and elderly: Task-intention-identification and assistive-motion-planning algorithms
Author :
Bo Shen;Shuoyu Wang
Author_Institution :
School of Systems Engineering, Kochi University of Technology, Kami, Kochi, Japan
fYear :
2015
Firstpage :
1169
Lastpage :
1176
Abstract :
To provide support for the lower-limb handicapped and elderly with lower-limb weakness, an Independent Life Support Robot (ILSR) has been under development in our laboratory. In this study, we first introduce the kinematics model of the ILSR. Second, we provide a brief introduction to Activities of Daily Life (ADLs) that require support for lower limb handicapped and elderly. Third, we propose an ILSR identification method for task intention in daily life and an assistive-motion-planning ILSR method to provide complementary mobility functions for the lower-limb handicapped and elderly. Finally, we discuss the effectiveness of our proposed method as demonstrated in experiments in which a series of cleaning tasks were performed.
Keywords :
"Senior citizens","Mobile robots","Kinematics","Wheels","Cleaning","Electromyography"
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2015 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBIO.2015.7418930
Filename :
7418930
Link To Document :
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