A study of driving trajectory for standing-up motion support system

Eiji Kobayashi, Takashi Yoshimi, Nobuto Matsuhira, Makoto Mizukawa, Yoshinobu Ando

研究成果: Conference contribution

抄録

In this study, we focus on the standing-up motion assist for elderly people, and we are developing a standing-up motion support system, because the support of stand-up motion is the most physically burdened task for caregivers. The system is designed to be used easily and can carry out minimum necessary support for elderly people by moving the handle. The support system consists of two electric sliders and a handle with 6-axis force torque sensor. In this paper, we aim to get a suitable trajectory of the handle which is comfortable and effective for the system users to support standing-up motion. Then, we proposed three kinds of trajectories and evaluated them through experiments. From the evaluation results, we found that a circular arc trajectory from start to end point with constant speed is the most suitable trajectory for the standing-up support system for the elderly.

本文言語English
ホスト出版物のタイトル2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(印刷版)9781479978625
DOI
出版ステータスPublished - 2015 9 8
イベント10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
継続期間: 2015 5 312015 6 3

Other

Other10th Asian Control Conference, ASCC 2015
国/地域Malaysia
CityKota Kinabalu
Period15/5/3115/6/3

ASJC Scopus subject areas

  • 制御およびシステム工学

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