A Novel Walking Assist Robot Based on IMU Sensor and Mobile Manipulator

カテゴリ: 研究会(論文単位)

論文No: IIC13163

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2013/09/03

タイトル(英語): A Novel Walking Assist Robot Based on IMU Sensor and Mobile Manipulator

著者名: Chuan Yang(慶應義塾大学),村上 俊之(慶應義塾大学)

著者名(英語): Chuan Yang(Keio University),Murakami Toshiyuki(Keio University)

キーワード: Ａｃｃｅｌｅｒａｔｉｏｎ　Ｓｅｎｓｏｒ|Ｗａｌｋｉｎｇ　Ｍｏｔｉｏｎ　Ｅｓｔｉｍａｔｉｏｎ|Ｍｏｂｉｌｅ　Ｒｏｂｏｔ|Ｐｏｗｅｒ　Ａｓｓｉｓｔｅｄ　Ｃｏｎｔｒｏｌ

要約(日本語): In this paper, an IMU sensor fixed on elder’s foot to estimate human’s walking motion is proposed. A manipulator mounted on a mobile robot can support and help the elders with their walking by using the estimated walking motion. Also, it can move beside the elders and coordinate their steps as the elders swing their feet on the ground. The validity of the proposed approach is confirmed by experiments.

要約(英語): In this paper, an IMU sensor fixed on elder’s foot to estimate human’s walking motion is proposed. A manipulator mounted on a mobile robot can support and help the elders with their walking by using the estimated walking motion. Also, it can move beside the elders and coordinate their steps as the elders swing their feet on the ground. The validity of the proposed approach is confirmed by experiments.

原稿種別: 日本語

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