Sit-to-Stand Assistance with a Balancing Mobile Robot

被引：0
|
作者：
Shomin, Michael [1 ]
Forlizzi, Jodi [2 ,3 ]
Hollis, Ralph [4 ]
机构：
[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA
[2] Human Comp Interact Inst, Pittsburgh, PA USA
[3] Sch Design, Pittsburgh, PA USA
[4] Inst Robot, Pittsburgh, PA USA
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2015年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work presents a method for assisting people in getting out of chairs with a dynamically stable mobile robot. A user study is described in which force profiles and joint trajectories were recorded for a human-human sit-to-stand experiment. These data were used to develop an impedance-based controller designed to allow the ballbot to help people out of chairs. The control strategy is experimentally verified on the ballbot, a balancing mobile robot, exhibiting lean angles of over 15 degrees and applying more than 120 N of assistive force. To our knowledge, this is the first mobile robot to assist people in standing.
引用
收藏
页码：3795 / 3800
页数：6
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