A Standing-up Assist Control Method Considering Movement Speed

Atsushi Hiraoka, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

With the rapid aging population, the need for standing-up assist device has grown because standing-up movement is essential for independent living. The standing-up assist controller needs to accomplish high trajectory-following without high rigidity. Therefore, compliant force coordinate transformation control (CFCT) is applied to the controller. This control method induces user to model trajectory effortlessly. Moreover, this paper proposes the algorithm which considers the differences of standing-up movement speed. The proposed algorithm enables the assist device to support the user regardless of the difference of movement speed. The controller is evaluated through experiments.

Original languageEnglish
Title of host publicationProceedings - IECON 2020
Subtitle of host publication46th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages71-76
Number of pages6
ISBN (Electronic)9781728154145
DOIs
Publication statusPublished - 2020 Oct 18
Event46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
Duration: 2020 Oct 192020 Oct 21

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2020-October

Conference

Conference46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
CountrySingapore
CityVirtual, Singapore
Period20/10/1920/10/21

Keywords

  • compliant control
  • coordinate transformation
  • movement speed
  • standing-up assist device

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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