2A1-C07 Robotic cart development for carrying oxygen cylinder to support HOT patients : Realization of the companion cart by force control(Welfare Robotics and Mechatronics (1))

Iribe, Masatsugu; Ikeda, Ryota; Maeta, Naoto; Onishi, K.; Endo, Gen; Takubo, Tomohito; Ohira, Mineko

doi:10.1299/jsmermd.2013._2a1-c07_1

Cited by 1 publication

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“…9 shows the overviews of the robotic cart. According to the questionnaire result [2], it is preferred that size of the robotic cart is equivalent to the conventional oxygen equipment carrier or smaller than it. Of course it is also preferred that weight of the robotic cart is equivalent to the conventional carrier or lighter than it.…”

Section: A Overview Of Our Proposed Mobile Robotic Cart Prototypementioning

confidence: 99%

“…According to a questionnaire survey to HOT patients, 55 respondents (effective number of the answer is 88) answered that the reason of avoidance from going out is a problem of portable oxygen equipment. For more detail, 36 respondents who answered the previous question also answered that the weight of the portable oxygen equipment is a problem (effective number of the answer is 53) [2].…”

Section: Introductionmentioning

confidence: 99%

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Development of a mobile robotic cart to support HOT patient's going out via Force and Inverted pendulum control

Iribe

Mishima

Endo

et al. 2016

2016 11th France-Japan &Amp; 9th Europe-Asia Congress on Mechatronics (MECATRONICS) /17th International Conference on Research

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Home Oxygen Therapy (HOT) patients must take the conveyance cart to carry oxygen equipment when they go out. However the equipment is heavy enough to discourage the patients from going out. Therefore, in this study, we attempt to develop a mobile robotic conveyance cart to support HOT patient's going out by applying Force control and Inverted pendulum control which can also prevent the falling over of the cart. In this paper, we describe the control principle of Force control with Inverted pendulum control by several dynamical simulations, and we also show the effectiveness of our proposed control system by several experiments.

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Section: A Overview Of Our Proposed Mobile Robotic Cart Prototypementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%