A Standing-up Assist Control Method Considering Movement Speed

Atsushi Hiraoka, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2020
ホスト出版物のサブタイトル46th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ71-76
ページ数6
ISBN(電子版)9781728154145
DOI
出版ステータスPublished - 2020 10 18
イベント46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
継続期間: 2020 10 192020 10 21

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2020-October

Conference

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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