抄録
In this paper we describe a motion control of the mobile robot to support Home Oxygen Therapy patients' going out. We propose a guidance type mobile robot which moves ahead of the user. Force sensors are adopted to sense the input force from users, and the sensed signals are used for control the robot's motion. 2 D.O.F. control system is adopted for the robot's controller to adjust the operational response between the user and robot. Then the effectiveness of the control system is verified by some experiments with a prototype robot and HOT patients.
