2E1-02 Hand-Guiding Movement for Decreasing Knee Joint Torques of the Elderly in Standing-up Motion Support : Towards Facilitating Self-Care Support with Mobile Manipulator

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  • IWATA Hiroyasu
    Humanoid Robotics Institute, Waseda University:Institute for Biomedical Engineering, Consolidated Research Institute for Advanced Science and Medical Care, Waseda University (ASMeW)
  • KAMEZAKI Mitsuhiro
    Humanoid Robotics Institute, Waseda University
  • AIKO Fumitaka
    Humanoid Robotics Institute, Waseda University
  • KANEKO Makoto
    Humanoid Robotics Institute, Waseda University
  • SUGANO Shigeki
    Humanoid Robotics Institute, Waseda University

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Other Title
  • 2E1-02 起立動作介助における膝関節負荷を軽減可能な手先誘導軌道 : 移動型力介助マニピュレータによる高齢者の自立支援の促進(起立・歩行支援)

Description

We propose a method for designing the hand-guiding movement that enables to lessen knee joint torques of the elderly in standing-up motion support. The movement was derived based on the geometric analysis of transitional postures during a standing-up motion for an assisted person expressed with four link models comprising of a shoulder, waist, knee and feet. The postures satisfying the derived movement in which the center of gravity goes in a place near the toe in the foot contact area allows the elderly to reduce knee joint torques during the standing-up motion even if the burden grows most. Simulations and experiments using an actual robot for evaluation indicating the derived trajectory successfully lessens knee joint torques of the elderly confirm the validity of the proposed method.

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