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In this paper, system design and motion control of a nursing lift robot which runs on the ground is presented. This supporting lift robot provides a power assist function for transfer aid system with hoisting and lowering, and also an omnidirectional motion function, using DDSS (Differential Drive Steering System). Further, logic control to suppress limit cycle of lift at grounding is proposed. The...
This paper is concerned with an operational assistance system to a load transfer machine in a plane such as a manually guided vehicle and a crane without vertical transfer. In the transfer machine, collisions with obstacles are often occurred by the incorrect operations. Therefore, in order to avoid the obstacles to the transfer machine, the operational assistance system using 3-DOF(3 Degree of Freedom)...
This paper is concerned with an advanced attitude control of the vehicle body in the parallel two-wheel vehicle with underslung vehicle body. Since the parallel two-wheel vehicle has large wheels with its diameter of 1.05m, and the battery, the actuators and the controller are placed on the lower position in the vehicle body, the gravity center of the vehicle body with a passenger can be assigned...
This paper presents a power-assist system of omni-directional mobile wheelchair which considers collision avoidance. Omni-directional mobile robot has advantage such intuitive operation is possible, because the robot can be moved to arbitrary direction instantaneously according to the manipulated input In the past research, power-assisted omni-directional mobile wheelchair has been developed to reduce...
Today, Virtual Reality (VR) technology has been widely applied in various fields. In past research, the influence of inducing VR in humans through the human senses or virtual effects has been studied. However the methods used to analyze human sensation have only involved measuring the center of gravity and questionnaire surveys. On the other hand, it is known that the sensation induced by VR affects...
In the omni-directional wheelchair, the power assist system for the attendant is effective for persons who don't have enough power, such as the elderly people and disabled people. In addition, it is difficult for a novice operator to navigate an omni-directional wheelchair through a narrow space like an elevator door or a path along the wall because it is always necessary to keep in mind the width...
Holonomic omnidirectional mobile robots are useful because of their high level of mobility in narrow or crowded areas, and omnidirectional robots equipped with normal tires are desired for their ability to surmount difference in level as well as their vibration suppression and ride comfort. A caster-drive mechanism using normal tires has been developed to realize a holonomic omnidiredctional robot,...
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