慣性センサを用いた立ち上がり支援方法の開発

抄録

An intelligent walking support machine has been developed for the people with lower limb disabilities. In previous study, the standing up supporting experiment while user catching the handrail of the walking support machine has been conducted. The results showed that, when the robot did not supply an active supporting action, standing up for user is difficult by catching the handrail. Therefore, in this study, based on the accurate identification of user’s intent of standing up action, we develop a standing up support method for the robot to reduce the user’s burden. Specifically, a standing up support method for the robot is developed based on supporting action of caregivers measured and recognized by the acceleration information of their waist. Finally, the effectiveness of the method is valid by experiment.