高齢者の立ち上がりを支援する空気圧式ロボット杖スーパーリム
Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance
空気圧駆動のロボット杖・インフレータブルベスト・深度センサを組み合わせ、高齢者の自宅での立ち上がり動作を支援する環境型スーパーリムシステムを提案し、生体力学的モデルによる閉ループ制御で下肢負担と転倒リスクの低減を示した。
著者: Xia Wu, Haiyuan Liu, Ziqi Liu, Mingdong Chen, Fang Wan, Chenglong Fu, Harry Asada, Zheng Wang, Chaoyang Song
分類: cs.RO, cs.LG
原文アブストラクト
Many researchers have identified robotics as a potential solution to the aging population faced by many developed and developing countries. If so, how should we address the cognitive acceptance and ambient control of elderly assistive robots through design? In this paper, we proposed an explorative design of an ambient SuperLimb (Supernumerary Robotic Limb) system that involves a pneumatically-driven robotic cane for at-home motion assistance, an inflatable vest for compliant human-robot interaction, and a depth sensor for ambient intention detection. The proposed system aims at providing active assistance during the sit-to-stand transition for at-home usage by the elderly at the bedside, in the chair, and on the toilet. We proposed a modified biomechanical model with a linear cane robot for closed-loop control implementation. We validated the design feasibility of the proposed ambient SuperLimb system including the biomechanical model, our result showed the advantages in reducing lower limb efforts and elderly fall risks, yet the detection accuracy using depth sensing and adjustments on the model still require further research in the future. Nevertheless, we summarized empirical guidelines to support the ambient design of elderly-assistive SuperLimb systems for lower limb functional augmentation.
