Motion control of omni-directional type walking support system "Walking Helper"

Hirata, Yasuhisa; Baba, T.; Kosuge, Kazuhiro

doi:10.1109/roman.2003.1251806

Cited by 44 publications

(16 citation statements)

References 5 publications

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“…In [10], a force/torque sensor measures forces between the mobile robot's body and an external protection cover, providing partial safety, but collisions against the wheels cannot be detected. In [7] they introduce a quasi omni-directional mobile robot that is compliant to external forces by measuring torques on the yaw joints of its caster wheels.…”

Section: Mobile Platforms With Contact Detectionmentioning

confidence: 99%

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

2015

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In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located in the robot's drivetrain. Using model based techniques we estimate, with good precision, the location, direction, and magnitude of collision forces, and we develop an admittance controller that achieves a low effective mass in reaction to them. For experimental testing, we use a facility containing a calibrated collision dummy and our holonomic mobile platform. We subsequently explore collisions with the dummy colliding against a stationary base and the base colliding against a stationary dummy. Overall, we accomplish fast reaction times and a reduction of impact forces. A proof of concept experiment presents various parts of the mobile platform, including the wheels, colliding safely with humans.

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Section: Mobile Platforms With Contact Detectionmentioning

confidence: 99%

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

2015

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“…Many researchers have proposed human assistive systems that use robot technologies such as a powered-assistance system for handling heavy objects [1], [2], a walking-support system [3], [4], a rehabilitation system [5], [6], and a haptic device for virtual reality [7]. This paper focuses on a haptic device for guiding human motion and proposes the wire-type motion support system for sports training.…”

Section: Introductionmentioning

confidence: 99%

Wire-type human support system controlled by servo brakes

Hirata

Tozaki

Kosuge

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper, we propose a passive wire-type motion support system to guide a human hand through the use of servo brakes. This system is intrinsically safe because servo brakes cannot generate a driving force to control the system. On the other hand, this system may not generate sufficient force to guide the human hand along the desired path because of the use of servo brakes. To resolve this problem, the standard approach would be to increase the number of brake units to generate the desired force. However, the large number of wires attached to each brake unit might restrict the user's motions, and there would be a potential for injury if the wires entwined around the user. Therefore, in order to safely guide the user's motion, we need to decrease the number of brake units having wires. In this paper, we consider a feasible braking force region of the wire-type passive system with multiple brake units and discuss the number of brake units required to guide the user's motion appropriately. We develop the wire-type motion support system that uses servo brakes and conduct path-following experiments considering table tennis as an example of sports training. In addition, we present experimental results that show the passive system with a small number of brake units can guide the user's hand along the desired path.

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“…Thus, omni-directional mobile platform is needed in the robot design. This kind of platform has been considered in some applications [9]. The problem that slender rollers of omni-wheels have limited load capacities is partly solved by the modem technology.…”

Section: Introductionmentioning

confidence: 99%

A novel fall prevention scheme for intelligent cane robot by using a motor driven universal joint

Huang

Sekiyama

et al. 2011

2011 International Symposium on Micro-NanoMechatronics and Human Science

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In this study, we propose a novel fa ll prevention scheme fo r an omni-direction type cane robot by using a DC motor driven universal joint. The cane robot which is driven by three omni-wheels is called Intelligent Cane Robot (iCane). It is designed fo r aiding the elderly and handicapped people walking as shown in Fig.I. The motion of cane robot is controlled fo r both normal and abnormal walking conditions. The user's normal walking aided by the cane robot, a concept called "Intentional Direction (lTD)" is proposed. Guided by the online estimated ITO, we apply the admittance control method in the motion control of cane robot. For the abnormal walking, we mainly studied the case of user's fa ll down. The center of gravity (COG) of user can be estimated fr om the angle of an inverted pendulum which represents human dynamic model. Fall prevention algorithm based on the relationship between user's COG and the cane is proposed. Because the size of the cane robot is small, when the robot is preventing the user fa lling down, firstly, the stability of the cane robot should be ensured.A universal joint which is driven by two DC motors is used to reduce the moment causing the cane robot fa lling over.The proposed method is verified through experiments.

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Motion control of omni-directional type walking support system "Walking Helper"

Cited by 44 publications

References 5 publications

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

Wire-type human support system controlled by servo brakes

A novel fall prevention scheme for intelligent cane robot by using a motor driven universal joint

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