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The motion of a passive-type intelligent walker is controlled based on visual estimation of the motion state of the user. The controlled walker would be a support for standing up and prevent the user from falling down. The visual motion analysis detects and tracks the human upper body parts and localizes them in 3D using a stereovision approach. Using this data the user's state is estimated to be...
In this paper, we propose an intelligent cane developed based on passive robotics concept for supporting the elderly and the disabled persons who have difficulty walking. The intelligent passive cane (IP Cane) is controlled by servo brakes attached to the wheels and intrinsically safe for humans, because it cannot move unintentionally, i.e., it has no driving actuators. In addition, the IP cane provides...
When supporting standing-up motion, a caregiver takes advantage of gravity force to make sufficient momentum without bearing heavy burden. The physical abilities or decision-making abilities decrease for many of elderly people who need care. We propose a self-help standing-up method for such people. The method with quasi-static motion in which the acceleration is approximated to zero, so as to keep...
In this paper, we propose a grasping mechanism for flat-shaped objects such as a dish, a plate, etc., inspired by humanpsilas lateral grasp. We analyze how the mechanism can grasp the object, and evaluate the robustness of the grasping against disturbance forces/moments applied to the grasping object. The mechanism is experimentally applied to handling of dishes, and several experimental results illustrate...
In this paper, we propose a method for supporting a walking of a human by using wearable walking support system called wearable walking helper. In this method, the support moment for the knee joint of the user is calculated by the human model and a part of it is supported by the actuator of the wearable walking helper. In the conventional method we proposed so far, we only consider the stance phase...
This paper presents an approach in assisting a sit-to-stand movement using a robotic walking support system. In general, robotic walking support system is used to provide walking stability. We will extend its function to assist a user in executing a sit-to-stand movement. The first approach would be called passive support. In this approach, the support system would be stationary as the user execute...
This paper propose a new motion control algorithms for an intelligent robotic walker that emulate ambulatory device function such as cane, wheeled walker, and standard walker. Usually, the objective in designing robotic walker is to replaced conventional wheeled walker and introduce new high level functions such as guidance, health monitoring, and others. We extend the objective of a robotic walker...
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