Postural stability control for Robot-Human cooperation for sit-to-stand assistance

被引：0

作者：

Pasqui, V. ^{[1
]}

Saintbauzel, L. ^{[1
]}

Bidaud, P. ^{[1
]}

机构：

[1] Univ Paris 06, ISIR, FRE 2507, F-92265 Fontenay Aux Roses, France

来源：

ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS | 2007年

关键词：

Assistive device; robotic interface; human centered robotic; postural stability; sit-to-stand; fuzzy control;

D O I：

10.1142/9789812770189_0048

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a fuzzy controller, for a robotic device, to ensure stability of the user during the assisted sit-to-stand transfer. The first problem to be addressed is the postural analysis of the chair rising. Experiments, with healthy subjects, were performed with this aim in view. Analysis of external forces shows that sit-to-stand transfer can be subdivided into several phases. The observation of the Center of Pressure and of the horizontal component of the handle force yields rules to observe the stability of the patient and consequently adjust the robotic interface motion to the human volontary movement. These rules are used in the fuzzy control implementation. The controller is validated on experiments with healthy subjects and diseaded patients.

引用

页码：408 / 416

页数：9

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