Perception-Assist with a Lower-Limb Power-Assist Robot for Sitting Motion

Kazuo Kiguchi, Yutaka Yokomine

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

A lower-limb power-Assist robot is expected to assist physically weak persons to walk, stand up, or sit down. However, since the environment perception ability of the physically weak persons is sometimes deteriorated also, falling accident might occur even though the power-Assist is applied. A concept of perception-Assist has been proposed to avoid an unexpected accident. This paper proposes a perception-Assist method that the robot monitors interaction between the user and the surrounding environment and modifies the user's motion if it is necessary. In the case of sitting on the chair which is not located in a proper position, the robot performs the perception-Assist to modify falling motion to squatting motion by adding the additional force from behind. The effectiveness of the proposed method was evaluated by performing the experiments.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2390-2394
Number of pages5
ISBN (Electronic)9781479986965
DOIs
Publication statusPublished - Jan 12 2016
EventIEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 - Kowloon Tong, Hong Kong
Duration: Oct 9 2015Oct 12 2015

Publication series

NameProceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015

Other

OtherIEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
CountryHong Kong
CityKowloon Tong
Period10/9/1510/12/15

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Networks and Communications
  • Energy Engineering and Power Technology
  • Information Systems and Management
  • Control and Systems Engineering

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