2P1-G02 インテリジェントケインロボットを用いた転倒防止手法(福祉ロボティクス・メカトロニクス(1))

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  • 2P1-G02 Fall prevention method using Intelligent cane robot(Welfare Robotics and Mechatronics(1))

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A three-wheeled Omni-directional cane robot called Intelligent cane was developed previously for aiding the elderly walking. The robot consists of a stick, a multi-axis force sensor, two laser range finders, tilt angle sensor, universal joint and an omni-directional basis driven by three omni wheels. Estimation method of ITD(intentional direction) and motion control method based on ITD were proposed previously. There are various modes about the user of this robot. For example normal, danger, and so on. This paper proposes a detection method of user fall sign based on the leg motion and motion control method for the fall prevention using universal joint.

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