Force assistance system for standing-up motion

Daisuke Chugo, Hayato Kaetsu, Norihisa Miyake, Kuniaki Kawabata, Hajime Asama, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

In our current research, we are developing a force assistance system for standing up motion. Our developing system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we develop the force assistance system which realizes the natural standing up motion using remaining strength of the patient Our key ideas are two topics. The first topic is distributed system which controls the support bar and the bed system with coordination among them. The second topic is the combination of force and position control. According to the patient's posture during standing up, our control system selects more appropriate control method from them. We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance. The performance of our proposed control scheme is experimented by computer simulations.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Pages1103-1108
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, China
Duration: 2006 Jun 252006 Jun 28

Publication series

Name2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Volume2006

Other

Other2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
CountryChina
CityLuoyang
Period06/6/2506/6/28

Keywords

  • Force assistance
  • Force control
  • Position control
  • Standing up motion

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Mechanical Engineering
  • Control and Systems Engineering

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