1P1-A22 Force Assistance System for Standing-Up Motion : 3nd Report: Traction Control based on Posture of Patients

Abstract

In our current research, we are developing a power assistance system for standing-up motion. Our developing system realizes the standing-up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we propose the traction control scheme based on posture of a patient. Our controller combines a dumping control scheme and a position control scheme, and selects more appropriate control scheme according to standing posture of a patient. We verify our proposed control scheme by computer simulations.