立ち上がり支援機能を有する移動ロボットのための立ち上がり動作の数理モデル化

抄録

Developing robotic systems that can encourage the social activities of the aged or handicapped is important. We propose a mobile robotic system that follows a person, closely monitoring when the person goes out of the house; becomes a chair when the person wants to sit; and assists in the standing-up motion when the person resumes walking. The mobile robot comprises an arc-shaped mechanism to assist in the standing-up motion. In this study, the standing-up motion of a person is analyzed from the viewpoint of the combination of the lateral movement of the knee and the rotational movement of trochanter major when its rotational center is considered to be in the same position as the knee. In addition, the rotational movement of trochanter major and the lateral movement of the knee are modeled using spline functions. The errors between the trajectories obtained by the models and those obtained from experimental data were confirmed to be very small, showing the effectiveness of the models. The mobile robot can reproduce the trajectory of natural standing up by controlling its own movement and the arc-shaped mechanism by following the trajectories of the models.