ICRA 2011 Paper Abstract


Paper TuP208.2

Ohara, Eiichi (Gifu University), Watanabe, Tatsuya (Gifu University), Yano, Ken'ichi (Mie University), Oishi, Takeshi (Gifu University), Aoki, Takaaki (Gifu University), Nishimoto, Yutaka (Gifu University)

Assistance Control of Wheelchair Operation Using Active Cast for the Upper Limb

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics II" (TuP208), Tuesday, May 10, 2011, 15:40−15:55, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Human Performance Augmentation, Rehabilitation Robotics


Many people of all ages have sustained cervical cord injury in traffic accidents or sport accidents, and consequently suffered physical impairment. For individuals with paralysis of the lower limb who have also lost the ability to extend the elbow, many motions become difficult to perform in daily life, for example, independently operating a wheelchair or pushing open doors.

In the future, wearable assist robots are expected to be incorporated into daily life. In order to be wearable, the assist robot must not limit the user's range of motion while being carried or used, and must be suitable for a wide range of situations. In this study, we developed an assist robot for upper limb movement which can assist wheelchair operation. To achieve this, we constructed a model of the upper limb during wheelchair operation with a manipulating force ellipsoid, and we developed an assistance control method for the upper limb using the device to apply force vectors. The effectiveness of the developed system is demonstrated experimentally.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2020 PaperCept, Inc.
Page generated 2020-03-30  01:11:34 PST  Terms of use