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

Oscar Chuy, Yasuhisa Hirata, Wang Zhidong, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages4343-4348
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

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

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