2A1-C09 Robotic cart development for carrying oxygen cylinder to support HOT patients : Force control of the conveyance cart by front support I/F(Welfare Robotics and Mechatronics (1))

Abstract

Home Oxygen Therapy (HOT) patients always need to be supplied high concentration oxygen, and they also need to carry portable oxygen cylinders when they go out. However the oxygen cylinders seem to be heavy. So we propose and develop new type of robotic cart for carrying oxygen cylinder to support HOT patients. Our proposed robotic cart applies guide and lead style to carry oxygen cylinder by using the handle of two tight and left type interfaces which has 2 force sensors to generate the robot's moving direction and velocity. In this paper we describe the concept and principle of robotic cart operation, and then we show the effectiveness of our proposed feedback control system of force-velocity impedance control.