The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2020
Session ID : 1P1-E07
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Motion Control of Body Weight Support Walker with Steering Control Caster
*Yasuhisa HIRATAShiomitsu TAKASHI
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Abstract

In our article, we propose a Body Weight Support Walker called FLORA TENDER. The user wears a harness which is connected to the walker by two wires and the walker pulls up the patient. However, when doing manual work while moving with it, the user might not be able to go toward the intended direction. We propose a method for controlling the orientation of it’s caster wheels, so that it easily moves toward the intended direction by the user. In this research, a user state estimation method based on the angle and the length of the wires connecting the user and the walker is proposed. In addition, by steering the caster wheels towards the appropriate direction based on the estimated state, we enable the FLORA TENDER to move easily and consistently along with the user’s motion.

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© 2020 The Japan Society of Mechanical Engineers
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