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We have developed a simple self-transfer aid robotic system and have conducted psychological evaluation experiments regarding the horizontal movement of the device. The users targeted are people with impaired walking ability who use a wheelchair, however are still able to walk to some extent. With the self-transfer aid robotic system, these users can maneuver themselves independently to and from a...
This paper describes a novel capacitor regenerative braking control scheme of electric powered wheelchairs for efficient driving on downward slopes. ??Electric powered wheelchair?? which generates the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the energy efficiency has to be further improved because it...
This paper proposes a novel regenerative braking control system of electric wheelchairs for senior citizen. ldquoElectric powered wheelchairrdquo, which generates the driving force by electric motors according to the human operation, is expected to be widely used as a mobility support system for elderly people. This study focuses on the braking control to realize the safety and smooth stopping motion...
We have been developing a Universal Mobile robot for Assistive tasks (UMA). The aim of UMA is to assist elderly and disabled person in an indoor location. UMA is able to transport daily use objects by following the user. This paper presents an early construction of UMA and experimental result of following a user using visual tracking as a first step.
This paper proposes a novel regenerative braking control system of electric wheelchairs for senior citizen. ldquoElectric powered wheelchairrdquo, which generates the driving force by electric motors according to the human operation, is expected to be widely used as a mobility support system for elderly people. This study focuses on the braking control to realize the safety and smooth stopping motion...
We have been developing a grip aid system using air cylinders to assist elderly who have weak grasping force to have daily living activities. The system is small and light weight. In this paper, mechanism to assist thumb, index, and middle fingers using one air cylinder for each finger, is proposed. And also control method of the device using a bending sensor to transfer their will to control the...
Wheelchair bound persons need assistance since there are many steps in roadways or walkways. Therefore, we are proposing a robotic wheelchair which enables a wheelchair bound person to climb over steps without helperpsilas assistance. By using the proposed robotic wheelchair, a user can maintain inverse pendulum control after raising its front wheels (casters). Then, a user can move forward to the...
People bound to wheelchairs require assistance maneuvering over steps encountered when moving about roadways and walkways. We propose an intelligent robotic wheelchair which enables a wheelchair bound person to climb steps without third-party assistance. By using this proposed mechanism, a user may maintain inverse pendulum control while raising the front wheels of the wheelchair, then moving forward...
A robotic manipulator, suspended from a ceiling of a general house, with an easy operation human interface is proposed in this paper. A bedridden user can easily manipulate his/her belongings by using the robotic manipulator. The robotic manipulator used in our research does not require the installation area on a floor because it is installed under a ceiling of a house. Two linear motion actuators...
We have been trying to develop assistive mobile robot system (AMOS). The aim of AMOS is to replace only simple assistive work that picking up, transporting and placing the daily use objects in designated indoor location semi autonomously to reduce the burden of the care taker. AMOS should avoid any kind of collisions in the environment. Therefore, the amount of sensors and functionalities are increased...
We have developed a rehabilitation system utilising a haptic device. This system aims to integrate motion and sensory therapy ensuring that the patient's interest is maintained and to establish a quantitative assessment of the level of disorder. This system consists of a haptic device, a computer and a LCD monitor. The user moves the grip of the haptic device according to the training program, which...
We have developed a simple self-transfer aid robotic system and have conducted evaluation experiments. The users targeted are people with impaired walking ability who use a wheelchair, however are still able to walk to some extent. With the aid transfer, these users can maneuver themselves independently to and from apparatus, in this case, toilets. In practice, users lean their upper-bodies onto the...
We have developed a simple self-transfer aid robotic system and have conducted experiments of motion analysis. The users targeted are people with impaired walking ability who use a wheelchair, however are still able to walk to some extent. With the aid transfer, these users can maneuver themselves independently to and from apparatus, in this case, toilets. In practice, users lean their upper-bodies...
This paper proposes an easy human interface device to operate an assist robot for a severely handicapped person. A quadriplegic patient can move a mouse pointer on a personal computer display using a head space pointer, and can click it with the newly designed input device which uses patient's cheek movement. The input device uses a fiber sensor to detect the patient's cheek movement. The human interface...
A simple self-transfer aid robotic system is proposed, and the evaluations on the human's physical burdens when using a transfer aid robotic system are presented in this paper. A person with weak leg muscles who uses a wheel chair is assumed to be the target user. By using the self-transfer aid robotic system, a user can transfer between a wheel chair and a toilet, for example. The proposed self-transfer...
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