利用者の進行方向推定に基づくレール型歩行支援ロボットの経路切り替え制御

抄録

There is a rail-type walking support robot, called Yorisoi Robot which is sold by Sanyo Homes. This robot prevents users with walking disabilities from being injured by falling while walking and can thereby support them to become more active. However, users need to operate a path of switch rails with a remote to change their direction of movement, so that they cannot only concentrate on walking though they are disabled to walk. Therefore, we propose a method to estimate a user’s desired direction and automate switching the path of rails by using Long Short Term Memory. An experimental result showed that subjects could successfully walk through switch rails in about 80% with the method.