人体平衡测量和人体姿势辅助机器人设计

SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456) Pub Date : 1999-07-28 DOI:10.1109/SICE.1999.788684

Y. Takahashi, H. Takahashi, K. Sakamoto, S. Ogawa

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引用次数: 9

摘要

提出了一种针对身体不平衡的老年人和残疾人的人体姿态辅助机器人。该机器人具有由脚踝、腰部和足垫两个关节组成的结构。当病人碰巧摔倒时，机器人可以通过感知身体平衡将病人扶起。人的平衡是通过一个脚力垫来检测的，其中嵌入了应变计。为了验证人体姿态辅助机器人的工作原理，我们制作了按比例缩小的实验装置。所开发的程序可以模拟经典控制和H/sub / 2/控制的响应。

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Human balance measurement and human posture assist robot design

A human posture assist robot for elderly and disabled persons, with badly balanced physique is proposed. The robot has a structure with two joints of an ankle, a waist, and a foot force pad. The robot can raise the patient when he/she happens to fall down by sensing the body balance. The human balance is detected by a foot force pad where strain gages are embedded. We have fabricated the scale-down experimental setup to confirm the principle of the human posture assist robot. The program developed can simulate the responses of the classical control and H/sub 2/ control.

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来源期刊

SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456)

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