Abstract
As one of the home services with a mobile manipulator system, we are aiming at the realization of the motion assist for older persons. The purpose of the work is to realize a safe assist by real time feedback control based on the information of sensor fusion from a three-dimensional camera for detecting the 3-dimensional coordinate and a high speed tactile sensor for detecting the load and its center. This paper introduces our basic method for assisting standing-up motion and system configuration, the design of tactile sensor as well as initial experimental results to show the feasibility of the proposed system.
