2A1-C07 Robotic cart development for carrying oxygen cylinder to support HOT patients : Realization of the companion cart by force control(Welfare Robotics and Mechatronics (1))

Abstract

Home Oxygen Therapy (HOT) patients always need to be supplied high concentration oxygen, and they also need to carry portable oxygen cylinders when they go out. However the oxygen cylinders seem to be heavy, so we propose and develop new type of robotic cart for carrying oxygen cylinder to support HOT patients. Our proposed robotic cart applies side-by-side running and following style to carry oxygen cylinder by using handle shape interface which has 4 force sensors to generate the robot's moving direction and velocity. In this paper we describe the concept and principle of robotic cart operation.