Title :
Real-time fall and overturn prevention control for human-cane robotic system
Author :
Pei Di ; Jian Huang ; Nakagawa, Sachiko ; Sekiyama, Kosuke ; Fukuda, Toshio
Author_Institution :
Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan
Abstract :
A Intelligent Cane Robot(iCane) has been proposed to assist the elderly walking in daily life. As a nursing-care robot, the safety and dependability are the most important issues that should be investigated. For preventing the human subject from falling, the angle of human body and the acceleration of center of gravity(COG) should be less than some threshold. Although in a human-in-the-loop system, the human subject is regarded a uncontrollable object. However, while the user is falling over, the cane robot can move to a appropriately position and support the user for balance. As the prerequisite condition that the cane robot support the human balance, the stability of cane robot should be ensured firstly. According Newton-Euler Law, a dynamic model is proposed to present the stability of human-cane robotic system. A impedance control are used to achieve position, posture and force control of iCane for fall prevention. The simulation and experimental results show the performance of fall prevention by using iCane.
Keywords :
force control; gait analysis; intelligent control; medical robotics; mobile robots; position control; real-time systems; robot dynamics; stability; COG; Newton-Euler law; cane robot stability; center of gravity acceleration; dynamic model; elderly walking; force control; human body angle; human-cane robotic system; human-in-the-loop system; iCane; impedance control method; intelligent cane robot; nursing-care robot; overturn prevention control; position control; posture control; real-time fall prevention control; Educational institutions; Force; Impedance; Laser stability; Robots; Safety; Stability analysis;
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695694