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Standing assistance system for rehabilitation walker

Abstract : This paper proposes a walker system with power assistance device for standing up motion. Our system focuses on domestic uses for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is new assistance mechanism with four parallel linkages. Our proposed manipulator mechanism requires only smaller actuators and realizes rigid structure with lighter linkages comparing with general manipulator. Thus, we can design our assistance system compactly with low-cost using our mechanism. The second topic is the combination of force and position control. According to the patient's posture during standing up, our control system selects more appropriate control method from them. We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance. The performance of our proposed assistance system is verified by computer simulations and experiments using our prototype.
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Submitted on : Monday, February 25, 2008 - 11:28:38 AM
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  • HAL Id : inria-00258763, version 1



Daisuke Chugo, Wataru Matsuoka, Songmin Jia1, Kunikatsu Takase, Hajime Asama. Standing assistance system for rehabilitation walker. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. ⟨inria-00258763⟩



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