Approach in assisting a sit-to-stand movement using robotic walking support system

Oscar Chuy; Yasuhisa Hirata; Wang Zhidong; Kazuhiro Kosuge

doi:10.1109/IROS.2006.282007

Approach in assisting a sit-to-stand movement using robotic walking support system

Oscar Chuy, Yasuhisa Hirata, Wang Zhidong, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

37 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	4343-4348
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.282007
Publication status	Published - 2006 Dec 1
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country	China
City	Beijing
Period	06/10/9 → 06/10/15

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2006.282007

Fingerprint Dive into the research topics of 'Approach in assisting a sit-to-stand movement using robotic walking support system'. Together they form a unique fingerprint.

Cite this

Approach in assisting a sit-to-stand movement using robotic walking support system. / Chuy, Oscar; Hirata, Yasuhisa; Zhidong, Wang; Kosuge, Kazuhiro.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 4343-4348 4059096 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Chuy, O, Hirata, Y, Zhidong, W & Kosuge, K 2006, Approach in assisting a sit-to-stand movement using robotic walking support system. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4059096, IEEE International Conference on Intelligent Robots and Systems, pp. 4343-4348, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.282007

@inproceedings{8bf46b10376c42d5bc9577fa0b9b9ea4,

title = "Approach in assisting a sit-to-stand movement using robotic walking support system",

abstract = "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.",

author = "Oscar Chuy and Yasuhisa Hirata and Wang Zhidong and Kazuhiro Kosuge",

year = "2006",

month = dec,

day = "1",

doi = "10.1109/IROS.2006.282007",

language = "English",

isbn = "142440259X",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "4343--4348",

booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

}

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 -