常時ライトタッチ可能とする自律同伴型杖ロボットの旋回動作時における同伴性能向上

抄録

For preventing fall caused by unstable posture, we have previously developed a series of cane-type robot, named “Intelligent Cane,” as a mobile handholding device to provide “Light Touch Contact” for its users. This paper presents a human tracking control of the Intelligent Cane based on trunk posture estimation to improve accompanying performance in turning motion of a user. Effectiveness of the proposed method is verified through an experiment.