Assistance of self-transfer of patients using a power-assisting device

Nagai, Kiyoshi; Nakanishi, I.; Hanafusa, Hideo

doi:10.1109/robot.2003.1242213

Cited by 58 publications

(25 citation statements)

References 2 publications

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“…However these devices assist all necessary power for standing up and they do not discuss the using the remaining physical strength of patients. [6] [7] Therefore, there is a risk of promoting the decrease of their physical strength.…”

Section: Introductionmentioning

confidence: 99%

Force Assistance Control for Standing-Up Motion

Chugo¹,

Kawabata

Kaetsu

et al.

The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.

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In our current research, we are developing a power assistance system for standing up motion. Our developing system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we develop the control scheme which realizes the natural standing up motion with fewer loads to the patient. For developing control scheme, we investigate the standing-up motion of aged people who requires to power support and typical standing up motion by nursing specialist. Comparing with two motions, we set the reference of standing-up motion with our system and we discuss the required assistance force during standing up. Our key ideas are two topics. One topic is control reference using zero moment point. Zero moment point is useful index which shows stability of the patient's posture. The other topic is combination of force and position control. According to the patient's posture during standing up, our control system select more appropriate control method from them. The performance of our proposed control scheme is experimented by computer simulations.

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Section: Introductionmentioning

confidence: 99%

Force Assistance Control for Standing-Up Motion

Chugo¹,

Kawabata

Kaetsu

et al.

The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.

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“…Some devices have been conceived to assist people in daily-life activities such as walking (Palopoli et al, 2015), picking objects (Graf et al, 2004), aiding during the sit-to-stand (Nagai et al, 2003;Hirata et al, 2008), or for human-robot interaction (Schiffer et al, 2010). Overviews reporting existing aiding mobility devices are given in (Martins et al, 2012;Krishnan and Pugazhenthi, 2014).…”

Section: Introductionmentioning

confidence: 99%

Analysis and Mechanical Design Solutions for Sit-To-Stand Assisting Devices

Rea¹,

Ottaviano²

2016

American Journal of Engineering and Applied Sciences

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Sit-to-stand can be considered the most common daily-life activity and it can be defined as a change of posture, in which the base of support is transferred from the seat to the feet. It requires both voluntary movement of different body segments that contribute to the equilibrium and control during an important displacement of the Centre Of Gravity of the body. This activity can be considered of crucial importance for elderly and people with reduced mobility to achieve minimal independence in daily-life at home. In this study, we present and compare three design solutions for the support mechanisms to be used in assisting mechatronic devices. The reported solutions and considerations are supported by experimental activity, which was carried out during trials to track and record trajectories and the orientation of the trunk of the body during the sit-to-stand.

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“…In previous works, many researchers developed power assistance devices for standing motion. However, these devices are large scale and they are not suitable for family use [6] [7]. Furthermore, these devices assist all necessary power for standing motion and they do not discuss the using a remaining physical strength of a patient.…”

Section: Introductionmentioning

confidence: 99%

Standing motion assistance on a robotic walker based on the estimated patient's load

Morita

Chugo

Sakaida

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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This paper proposes a standing assistance control with a patient's load estimation for our robotic walker system. Our developing robotic walker realizes a standing assistance using its support pad which is actuated by novel assistance manipulator mechanisms on its body with four parallel linkages. Our system assists a standing motion using a remaining physical strength of patients maximally in order not to decrease their force generating capacity. For realizing this function, this paper proposes the following two topics. The first topic is an load estimation scheme of a patient who uses our assistance system. Our developed system measures a body motion and the applied force of a patient during standing assistance, and our system estimates the load of trunk, knee and ankle joint using a linkage model which approximates the human body. The second topic is a combination of force and position control. According to the estimated load of a patient during standing motion, our control system selects more appropriate control method from them and realizes the standing assistance using the physical strength of the patient. The performance of our system is verified by experiments using our prototype.

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Assistance of self-transfer of patients using a power-assisting device

Cited by 58 publications

References 2 publications

Force Assistance Control for Standing-Up Motion

Force Assistance Control for Standing-Up Motion

Analysis and Mechanical Design Solutions for Sit-To-Stand Assisting Devices

Standing motion assistance on a robotic walker based on the estimated patient's load

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