車椅子移動補助ロボットの自動連結システムの構築

抄録

This paper presents a method of automatically connect the wheelchair with the traveling support robot for usual manual wheelchair. This robot has been developing for a purpose of reducing burden on caregivers. In order to use this robot, caregivers or wheelchair users have to move the wheelchair closer to robot and manually connect. Therefore, we aim to implement the function that the robot automatically moves to the position where it can be connected with the wheelchair. In this paper, for planning robot movement route to handle an arbitrarily located wheelchair, we propose a method to estimate the posture and handle position of a wheelchair by using a vision sensor mounted on the robot. Also we propose a control method for moving the robot toward the rear of the wheelchair using three-dimensional interpolation curve.