高齢者の自立を支援する立位移動ロボット「Moby」
A Standing Support Mobility Robot for Enhancing Independence in Elderly Daily Living
高齢者のトイレ移動などの日常動作を支援するため、座位ではなく立位を維持する移動支援ロボットを開発し、ROSとLiDARによる自律ナビゲーションを実装して有効性を検証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Ricardo J. Manríquez-Cisterna, Ankit A. Ravankar, Jose V. Salazar Luces, Takuro Hatsukari, Yasuhisa Hirata
分類: cs.RO
原文アブストラクト
This paper presents a standing support mobility robot "Moby" developed to enhance independence and safety for elderly individuals during daily activities such as toilet transfers. Unlike conventional seated mobility aids, the robot maintains users in an upright posture, reducing physical strain, supporting natural social interaction at eye level, and fostering a greater sense of self-efficacy. Moby offers a novel alternative by functioning both passively and with mobility support, enabling users to perform daily tasks more independently. Its main advantages include ease of use, lightweight design, comfort, versatility, and effective sit-to-stand assistance. The robot leverages the Robot Operating System (ROS) for seamless control, featuring manual and autonomous operation modes. A custom control system enables safe and intuitive interaction, while the integration with NAV2 and LiDAR allows for robust navigation capabilities. This paper reviews existing mobility solutions and compares them to Moby, details the robot's design, and presents objective and subjective experimental results using the NASA-TLX method and time comparisons to other methods to validate our design criteria and demonstrate the advantages of our contribution.
関連論文
- 視覚障害者のグループツアーを支援するロボット移動支援ロボット
