Aided sit to stand transfer by assistive robot and wearable sensors
Aided sit to stand transfer by assistive robot and wearable sensors
复制标题
DOI：
10.1109/icarm.2017.8273167
复制
发表时间：
2017-08
期刊：
影响因子：
--
通讯作者：
Daqian Yang;M. Zhou;Jian Huang;Zhaohui Yang;Xiaoqiang Yu;Zhiwei Luo
中科院分区：
文献类型：
--
作者：
Daqian Yang;M. Zhou;Jian Huang;Zhaohui Yang;Xiaoqiang Yu;Zhiwei Luo
坐立转换可能是日常生活中最常见的任务。我们研制了一种辅助机器人，它可以提供物理支持，以帮助病人和老年人的身体障碍，在步行和STS转移。在本文中，我们将重点放在STS传递函数，这是实现自主控制和姿态控制，这意味着机器人跟踪人类的意图和运动在STS转移。辅助机器人主要由移动的平台机构、STS支撑机构和交互模块组成。几个机器人辅助STS转移实验进行了。通过对传感器信号的分析，实验结果表明，辅助机器人的STS传递函数由线性驱动器和STS传递的控制算法决定。达到了可接受的光滑度和顺应性。最后，进一步的研究工作，以提高性能进行了讨论。
Sit to stand (STS) transfer is probably the most common task during the daily life. We have developed an assistive robot which can provide physical support to aid patients and the elderly with the physical impairment during both the walk and the STS transfer. In this paper, we will focus on the STS transfer function which is realized by autonomous control and posture control that means the robot tracks human intention and motion during the STS transfer. The assistive robot consists of almost the mobile platform mechanism, STS support mechanism and the interaction module. Several robot-assisted STS transfer experiments were carried out. By analyzing the signals of the sensors, the experimental results show that the STS transfer function of the assistive robot are determined by the linear actuator and the control algorithm for the STS transfer. The acceptable smoothness and compliance are achieved. Finally, future research work to improve the performances is addressed.