2018 年 23 巻 2 号 p. 83-89
To confront the long-term daily care challenge caused by the shortage of nursing personnel, we are developing a single-body personal care robot for the walking disabled and weak elderly people. In this research, we propose a novel personal care robot with 23 degrees of freedom. Following an introduction to the robot’s mechanical structure and sensor configuration, a motion control method is provided. Additionally, to ensure accurate object manipulation, we present a pose estimation pipeline of important daily necessities for personal care. Ultimately, the proposed motion control and pose estimation methods were verified by experiments.
