Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver

Kobayashi, Kazuma; Hirata, Kentaro; Nakamura, Yukinori; Okano, Kiyoshi

doi:10.1109/icmech.2019.8722927

Cited by 1 publication

(2 citation statements)

References 16 publications

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“…Motivated e. g. by [1] and references therein we consider the basic mechanical aspects of cooperative standing-up motion, which takes place e. g. in geriatric care. The goal of this contribution is not to provide realistic numbers but rather a methodology to simplify further research.…”

Section: Introduction: Modelling Of Cooperative Standing-up Motionmentioning

confidence: 99%

“…The goal of this contribution is not to provide realistic numbers but rather a methodology to simplify further research. Following [1] we model each of the two persons (care giver and receiver) as chains of nL = 3 links (rigid bodies) connected by nJ actuated revolute joints and assume that both chains are fixed to the same basis (i. e. the ground) and the motion is entirely planar. We further assume that the torque which can be applied to each joint is bounded.…”

Section: Introduction: Modelling Of Cooperative Standing-up Motionmentioning

confidence: 99%

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Trajectory Planning for Closed Kinematic Chains Applied to Cooperative Motions in Health Care

Knoll

Jia

Heedt

2021

Proc Appl Math and Mech

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Physical interaction of humans can be a challenging. For some practically relevant situations a reasonable model is given by a closed kinematic chain of a planar rigid body mechanism. From a control perspective a cooperative motion, e. g. assisted standing-up, can be seen as an optimal control problem (OCP) with input and state restrictions. Due to the algebraic constraints and the comparably high number of joints involved, proper formulation of such a problem is not trivial. In this contribution we compare two different modeling approaches: discretization of the full dynamical problem and iterative solution of consecutive stationary problems. The latter turns out to be significantly faster while still providing-in some sense-optimal solutions.

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Section: Introduction: Modelling Of Cooperative Standing-up Motionmentioning

confidence: 99%

Section: Introduction: Modelling Of Cooperative Standing-up Motionmentioning

confidence: 99%

Trajectory Planning for Closed Kinematic Chains Applied to Cooperative Motions in Health Care

Knoll

Jia

Heedt

2021

Proc Appl Math and Mech

View full text Add to dashboard Cite

show abstract

Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver

Cited by 1 publication

References 16 publications

Trajectory Planning for Closed Kinematic Chains Applied to Cooperative Motions in Health Care

Trajectory Planning for Closed Kinematic Chains Applied to Cooperative Motions in Health Care

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