The Personal Care Robot~ Mechanism, Motion Control, Object Recognition

Abstract

We are developing independent personal care robots for walking disabled people and weak elderly. In this research, a novel personal care robot with 23 degrees of freedom is proposed, and the motion control method based on the introduction of the robot’s mechanical structure is provided firstly. Next, an object recognition method of important daily necessities for personal care is presented. Finally, the proposed motion control method and object recognition method are verified via experiments.