Self-help standing-up method based on quasi-static motion

Takuro Hatsukari, Shiho Kuroko, Norihisa Miyake, Ryushiro Kawazoe, Jun'ichi Higuchi, Yasuhisa Hirata, Kazuhiro Kosuge

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

23 Citations (Scopus)

Abstract

When supporting standing-up motion, a caregiver takes advantage of gravity force to make sufficient momentum without bearing heavy burden. The physical abilities or decisionmaking abilities decrease for many of elderly people who need care. We propose a self-help standing-up method for such people. The method with quasi-static motion in which the acceleration is approximated to zero, so as to keep safety at the time of emergency, is preferable. However, the quasi-static motion gives heavy burden to a caregiver because it cannot make efficient use of inertia force by the help of gravity force. Compared to human assist, mechanical system can easily realize the quasi-static motion, since a mechanical system has an ability to hold a large force. However, a quasi-static motion trajectory has to be newlydeveloped because it is not well known. Therefore, we propose the mechanical system and a quasi-static method for supporting standing-up motion. As an example, the method using artificial upper body constraint, and fitted to physical characteristics of each patient have been proposed. This system is found to be the effectiveness.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
PublisherIEEE Computer Society
Pages342-347
Number of pages6
ISBN (Print)9781424426799
DOIs
Publication statusPublished - 2009 Jan 1
Event2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand
Duration: 2009 Feb 212009 Feb 26

Publication series

Name2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Other

Other2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
CountryThailand
CityBangkok
Period09/2/2109/2/26

Keywords

  • Human engineering
  • Human interface
  • Medical and welfare assistance

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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