Fall Detection and Prevention Control Using Walking-Aid Cane Robot

Di, Pei; Hasegawa, Yasuhisa; Nakagawa, Shotaro; Fukuda, Toshio; Huang, Jin; Huang, Qiang

doi:10.1109/tmech.2015.2477996

Cited by 83 publications

(65 citation statements)

References 23 publications

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“…4. This mobile robot [10] is a pair of crawler type with tension applied to both side pulleys and tensioned respectively. This makes it possible to move forward, backward and turn.…”

Section: Mobile Robotmentioning

confidence: 99%

See 1 more Smart Citation

Docking Unit Joining Omni Wheel Robot and Mobile Robot

Igo

Fujita

Hanabusa

et al. 2019

EPI-IJE

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This research realizes a docking unit joining omni wheel robot and mobile robot. The omni wheel robot cannot move on rough ground. In order to move on rough ground, a mobile robot that can move with the omni wheel robot is required. The docking unit aims at a unit that can be used without remodeling omni wheel robot. The docking unit realized by this research can store the fixed part of the omni wheel robot. When omni wheel robot is mounted, the mounting surface is flat because the fixed parts are stored, and the omni wheel robot can be mounted by sliding. As a result, we designed a mechanism to connect the fixed parts to store the parts that fix the omni wheel robot. And the fixed parts with the mechanism were made.

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“…4. This mobile robot [10] is a pair of crawler type with tension applied to both side pulleys and tensioned respectively. This makes it possible to move forward, backward and turn.…”

Section: Mobile Robotmentioning

confidence: 99%

“…In human life, robots are getting familiar. For example, there are robots to talk [1,2], pet robots [3,4], healing robots [5], physical ability extension robots [6][7][8], moving assistance robot [9,10], and the like. In the human life, the ultimate form of the robot being targeted is a humanoid robot.…”

Section: Introductionmentioning

confidence: 99%

Docking Unit Joining Omni Wheel Robot and Mobile Robot

Igo

Fujita

Hanabusa

et al. 2019

EPI-IJE

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“…Robotic systems often employ these estimation results for anomaly detection or determining the required function of the robots [4,5]. These robots actions which is according to human users have reported to be effective for care robots [6][7][8]. However, these estimations are not always correct.…”

Section: Introductionmentioning

confidence: 99%

Verbal guidance for sit-to-stand support system

et al. 2020

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Artificial intelligence (AI)-based robots have become popular in various fields, thereby increasing the demand for care robots. Such care robots recognize or estimate factors such as human states and then perform actions depending on the estimation results. If the humans cooperating with robots do not understand robot functions well, the task will not be performed appropriately. Additionally, it is possible that the estimation may be incorrect. Robots may make mistakes, and there is a risk that these mistakes may not be understood by humans. In such cases, robots are not useful, and this may hinder the cooperation between humans and robots. There are several ways to deal with this issue including improving estimation and information representation. We can know what is important to design care robots by analyzing the influence of factors including accurate estimation and contents and timing of information representation. We developed a robot for analysis that can support a human during standing, by raising its armrest. The developed robot raises its armrest when the user leans on it. In the nursing-care field, verbal communication is important. Hence, we also adopt a verbal guidance for information representation. Verbal guidance to encourage a user to stand up and countdown timer representations are adopted. Initially, an experiment is conducted to validate the usability of the system that acts according to considerably accurate estimations. The experimental results show that system without verbal guidance causes anxiety to humans and the system becomes not useful, even if the human state is detected accurately. Furthermore, we determine the appropriate content and timing of verbal guidance based on the results. Subsequently, we conduct an experiment to confirm that the proposed method is applicable under imperfect estimations.

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“…The core point of this control strategy was to constantly change gait and trajectory according to different environments and tasks as well as stability state of robot. A control simulation platform was established to obtain the optimal controller parameters, and all the proposed methods were finally verified through simulations and experiments [17,18] . Some researchers [19][20][21] studied and implemented a real-time robust balance control for a humanoid robot under environment disturbance, the robot with robust control can resist an external thrust, stand on a two-axis inclinable platform, or walk on a see-saw successfully.…”

Section: Introductionmentioning

confidence: 99%

Development of agricultural bionic mechanisms: investigation of the effect of joint angle and pressure on the stability of goats moving on sloping lands

Zhang

Li-min

Wang

et al. 2018

International Journal of Agricultural and Biological Engineering

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Abstract:The use of small-scale agricultural machinery becomes prevalent as it provides the stability of agricultural machinery research ideas. To lay the theoretical foundation for the research and design of agriculture walking mechanism, the Phantom Camera Control software was used to measure the anterior and posterior joint angle of a goat walking on different slopes. Foot pressure was measured by the film pressure sensor. The result of joint motion sequence, range of motion, and change of range showed that the fitting degree of the measured value was accurate. As the goat walking speed increased, the level of the hind limb angle changed to ensure itself stability. When the goat is walking, the forelimbs bear more weight than the hind limbs due to the different static and physiological structures of the front and rear legs. The key parameters of gait on different slopes were analyzed. The curve of angle change of legs was measured and analyzed when the goat is walking in slope. The results showed that, with the increase of the slope gradient, the anterior hip angle ranges from 83.3° to 117.1°, the posterior hip angle ranges at 120.3°-173.1°, the left knee angle ranges from 91.3° to 170.1°, the right knee angle is roughly the same as its range of variation. When the slope increased, the pressure change of left hind foot was consistent with that of the right anterior foot, and the pressure change of right hind foot was consistent with that of the left anterior foot. This demonstrated the theory of diagonal gait. Meanwhile, with the change of the slope, the plantar pressure of the limbs changes periodically. The research results verified the rationality of the four-legged bionic mechanism under various parameters, which can provide a theoretical basis for the design of agricultural walking mechanism to adapt different slopes in the hilly and mountainous areas.

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Fall Detection and Prevention Control Using Walking-Aid Cane Robot

Cited by 83 publications

References 23 publications

Docking Unit Joining Omni Wheel Robot and Mobile Robot

Docking Unit Joining Omni Wheel Robot and Mobile Robot

Verbal guidance for sit-to-stand support system

Development of agricultural bionic mechanisms: investigation of the effect of joint angle and pressure on the stability of goats moving on sloping lands

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