Study on a practical robotic follower to support Home Oxygen Therapy patients - Prototype cart development applying the inverted pendulum control

Abstract

We have proposed a practical power assist robotic cart, which we call ‘Robotic Follower’, to support daily lives of the patients undergoing Home Oxygen Therapy (HOT). And to achieve the purpose, we have developed several types of Robotic Follower. In this paper, we describe our newly developed Robotic Follower with which the inverted pendulum control technology is applied to control Robotic Follower, and then we investigate its effectiveness and prove its availability.