Standing Assistance Control based on Voluntary Body Movement within Safety Tolerance
Standing Assistance Control based on Voluntary Body Movement within Safety Tolerance
复制标题
安全容许范围内基于自主身体运动的站立辅助控制
DOI：
10.1109/amc44022.2020.9244314
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Koujina Atsushi
中科院分区：
文献类型：
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作者：
Chugo Daisuke;Yokota Masahiro;Muramatsu Satoshi;Yokota Sho;She Jin-Hua;Hashimoto Hiroshi;Katayama Takahiro;Mizuta Yasuhide;Koujina Atsushi
本文提出了一种新的站立辅助机器人，它考虑了它的用户的姿态公差。在之前的研究中，传统的辅助机器人不需要患者使用自己的体力站立，这导致老年人的力量下降。因此，需要一种能够让患者最大限度地利用其所拥有的体力的辅助机器人。为了实现这一目标，机器人根据患者的身体运动和意图来帮助患者是很重要的。然而，在以前的研究中，一般的辅助机器人帮助病人，尽管他们的初衷是通过使用一个固定的运动参考路径，因此，这些机器人未能使用病人的体力。在我们以前的研究中，我们调查了站立运动过程中的姿势耐受性。在此耐受范围内，患者可依靠自身肌力站立，姿势稳定。因此，作为下一步，本文提出了辅助力控制方案，考虑了调查的姿态公差。机器人通过位置控制和力控制相结合的方式产生辅助力，使机器人在所研究的范围内，利用剩余体力进行自主运动。一个原型的辅助机器人，根据所提出的想法，制造，以帮助病人站起来安全地使用他们剩余的体力最大。
This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a fixed motion reference pathway in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. In our previous study, we investigated the posture tolerance during a standing motion. In this tolerance, patients could stand by own muscle strength with stable posture. Thus, as the next step, this paper proposes assistance force control scheme which considers the investigated posture tolerance. Our robot generated assistance force, which lead the voluntary movement with their remaining physical strength within investigated range, by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength.