Robotic assistance for aged people

Nagasawa, T.; Nakayama, Hirotaka; Hanzawa, T.; Arai, Yuki; Nagashima, Tadashi; Hirata, E.; Nakamura, Masami; Iizuka, T.; Ninomiya, H.

doi:10.1109/sice.1998.742928

Cited by 5 publications

(1 citation statement)

References 3 publications

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“…The developed biped locomotor with Stewart platform legs successfully achieved walking up and down on stairs for 250 mm continuously and carrying 60 kg man on it. Another bipedtype robot, for example, "Zero Walker-1" [3], uses its two legs to assist the aged person walking and moving up and down stairs along the handrail by stepping onto the feet of the robot [4]. However, the aforementioned robots generally need tremendous effect on expense and time.…”

Section: Introductionmentioning

confidence: 99%

DSP- and FPGA-Based Stair-Climbing Robot Design

Wang¹,

Mi²,

Wu³

et al. 2013

Mathematical Problems in Engineering

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A stair-climbing robot is equipped with a grasping arm for capturing objects to provide service for the elders. A board based on a digital signal processor (DSP) plays the role of control center to manage all actions of two brushless DC motors for locomotion, two worm gears for torque magnification, and two DC motors for arms' pitching in the main body. The robot is steered by fuzzy logic control (FLC) which integrates the outputs of DC bus current sensor and an inclinometer. There is a CMOS camera for vision used in the robot, and the grasping arm is controlled via the video camera for capturing objects. Simple algorithms of image processing are implemented in the field programmable gate array (FPGA) board that generates the X-axis and Y-axis commands of the grasping arm to capture/load objects. Three walking experiments of the stair-climbing robot to move up and down stairs are shown in the taped pictures from videos. The object tracking and capturing by the grasping arm and camera verifies the proposed design.

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Section: Introductionmentioning

confidence: 99%