TY - GEN
T1 - Cooperation control of ITP with human based inertial measurement unit
AU - Hanaoka, Ryo
AU - Nozaki, Takahiro
AU - Murakami, Toshiyuki
PY - 2016/12/21
Y1 - 2016/12/21
N2 - With the increase in aging population of many developed countries, the demand of walking or standing up assist device has grown. This paper presents structure and control system of novel assist device, Intelligent Tension Pole (ITP), to assist walking and standing up in room considered supporting for self-reliance, space saving, and stability. Two-wheel and one-wheel are added to lower and upper ends of tension pole collectively, and ball screw is added to move while stretching to floor and ceiling under various conditions. In addition, cooperation control of ITP with human based Ineatial Measurement Unit (IMU) to assist walking is introduced in this paper. Experiments are done to verify the effectiveness of proposed control system.
AB - With the increase in aging population of many developed countries, the demand of walking or standing up assist device has grown. This paper presents structure and control system of novel assist device, Intelligent Tension Pole (ITP), to assist walking and standing up in room considered supporting for self-reliance, space saving, and stability. Two-wheel and one-wheel are added to lower and upper ends of tension pole collectively, and ball screw is added to move while stretching to floor and ceiling under various conditions. In addition, cooperation control of ITP with human based Ineatial Measurement Unit (IMU) to assist walking is introduced in this paper. Experiments are done to verify the effectiveness of proposed control system.
KW - Acceleration control
KW - Elderly
KW - Hand rail
KW - Human assist robot
KW - Tension pole
KW - Walking and standing up assistance
UR - http://www.scopus.com/inward/record.url?scp=85010066691&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85010066691&partnerID=8YFLogxK
U2 - 10.1109/IECON.2016.7793773
DO - 10.1109/IECON.2016.7793773
M3 - Conference contribution
AN - SCOPUS:85010066691
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 5778
EP - 5783
BT - Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PB - IEEE Computer Society
T2 - 42nd Conference of the Industrial Electronics Society, IECON 2016
Y2 - 24 October 2016 through 27 October 2016
ER -