HOT患者の外出を支援するロボティックカートの制御系設計

抄録

Home Oxygen Therapy (HOT) patients must take the conveyance cart to carry oxygen equipment when they go out. However, the equipment is heavy enough to discourage the patients from going out. Therefore, in this study, we attempt to develop a mobile robotic conveyance cart to support HOT patient's going out by applying the torque convertor using MR fluid. In this paper we propose a new control system and show the effectiveness of it by numerical simulation.