This report describes a Center of Gravity (COG) point estimation system attachable to a stand-up motion support robot and COG point measurement accuracy. There are other COG estimation systems. But it isn't easy to attach to a mobility robot. Then, we propose a COG point estimation system attachable to a mobility robot to support stand-up motion adjusting to various use condition. We did an experiment of the COG point measurement accuracy of the system when a user was standing-up. The result shows COG point measurement accuracy is average of 19.7 [mm] accuracy, but it is also necessary to predict curvature of the spine during standing-up because there were scopes over required specifications.
