TY - GEN
T1 - Approach in assisting a sit-to-stand movement using robotic walking support system
AU - Chuy, Oscar
AU - Hirata, Yasuhisa
AU - Zhidong, Wang
AU - Kosuge, Kazuhiro
PY - 2006/12/1
Y1 - 2006/12/1
N2 - This paper presents an approach in assisting a Sit-to-Stand movement using a robotic walking support system. In general, robotic walking support system is used to provide walking stability. We will extend its function to assist a user in executing a Sit-to-Stand movement. The first approach will be called passive support. In this approach, the support system will be stationary as the user execute the Sit-to-Stand movement. The knee torque will be determined and this will be compared to a Sit-to-Stand movement without support. The second approach will be called active support and the knee torque will be supported. A motion control algorithm will be proposed such that the support system will move based on the supporting torque. The actual experimentation on both approaches in assisting a Sit-to-Stand movement will be presented. The experimental result on active support shows the validity of the proposed motion control algorithm.
AB - This paper presents an approach in assisting a Sit-to-Stand movement using a robotic walking support system. In general, robotic walking support system is used to provide walking stability. We will extend its function to assist a user in executing a Sit-to-Stand movement. The first approach will be called passive support. In this approach, the support system will be stationary as the user execute the Sit-to-Stand movement. The knee torque will be determined and this will be compared to a Sit-to-Stand movement without support. The second approach will be called active support and the knee torque will be supported. A motion control algorithm will be proposed such that the support system will move based on the supporting torque. The actual experimentation on both approaches in assisting a Sit-to-Stand movement will be presented. The experimental result on active support shows the validity of the proposed motion control algorithm.
UR - http://www.scopus.com/inward/record.url?scp=34250689210&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250689210&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282007
DO - 10.1109/IROS.2006.282007
M3 - Conference contribution
AN - SCOPUS:34250689210
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4343
EP - 4348
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -