手すりを用いた立ち上がり動作の識別

抄録

An intelligent walking support machine has being developed for the people with lower limb disabilities. It has been experimental validation that the two handrails of the machine can help user’s standing up by his/her holding force on the handrails. However, it is difficult for the user stand up by him/herself without any cooperation forces from machine. Therefore, the aim of this research is to develop a support method which could enable the machine cooperate with user's standing up action by recognizing the user’s standing up action. In this report, an identification method was proposed to identify the standing up action of user for the walking support machine. Firstly, two acceleration, angular speed sensors installed in the subject's head and waist were used to measure three patterns of user's standing up actions of daily life. Then, the measured dates were analyzed and unutilized for the design of identification method for the walking support machine. Finally, the effectiveness of proposed method was demonstrated by experiments.