This paper introduces a robotic walking and sit-to-stand support system, Smart Mobile Walker(SMW), and presents kinematic analysis of the system. For supporting person's sit-to-stand movement, the motion of SMW is modeled by the analysis of kinematics. The results of analysis are used for simulations and its feasibility is investigated by simulations. The feasibility shows our analysis of kinematics can be applied as a base of making optimal motion trajectory for helping sit-to-stand.
Various static and dynamic stability criteria have been defined in many researches. To estimate these stability margins, many sensors are required. Therefore, implementation on a real vehicle is an important factor for stability margins. In this paper, a modified dynamic energy stability margin measured with only a few sensors is suggested to facilitate implementation. The performance of the modified stability margin is demonstrated through dynamic simulations. The experiment results and an implementation of the stability margin estimation system on a real vehicle are presented.
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