Development of New Mobility Assistive Robot for Elderly People with Body Functional Control
Development of New Mobility Assistive Robot for Elderly People with Body Functional Control
复制标题
具有身体功能控制的新型老年人行动辅助机器人的研制
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
M. Fujie
中科院分区：
文献类型：
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作者：
Y. Kaneshige;M. Nihei;M. Fujie
我们一直在开发一种移动辅助机器人，它的概念是：“提高移动能力”、“保持健康”和“自然行走外观”。该机器人由三个控制器组成：自由跑步机速度控制，允许用户以期望的速度在跑步机上行走；驱动控制，控制执行器；转向控制，允许用户使用方向盘转向。这个机器人要成为可能，最重要的是为老年人开发另一种跑步机速度控制系统。由于老年人学习和适应能力下降的特点，作为界面的跑步机控制系统应该简单易用。因此，在本文中，我们提出了一种跑步机系统的速度控制方法，使用户能够像在地面上一样在跑步机上行走。开发的跑步机可以检测步行模式、制动力和直流电机负载的加速力。跑步机本身无法检测用户的步行速度，因此我们开发了一种将这些输入信号转换为用户步行速度的方法
We have been developing a mobility assistive robot with the following concepts [1]: "improved mobility," "health maintenance" and "natural walking appearance." The robot consists of three controls: the free treadmill speed control which allows the user to walk on the treadmill at the desired speed, the driving control which controls the actuators, and the steering control which allows the user to turn using the steering wheel. And this robot to be possible, the most important thing is to develop the alternative treadmill speed control system for older person. The treadmill control system as the interface should be easy and simple because of the older person's characteristics decreasing ability to learn and adjust. Therefore, in this paper, we propose a method of speed control for the treadmill system which enables the user to walk on the treadmill just as they do on the ground. The developed treadmill can detect walking patterns, braking forces, and accelerating forces from the load placed on its DC motors. The treadmill itself cannot detect the user's walking speed, thus we developed a method for converting those input signals into the user's walking speed