Sit-to-stand assistance with a balancing mobile robot
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3795 - 3800, May, 2015
Abstract
This work presents a method for assisting people in getting out of chairs with a dynamically stable mobile robot. A user study is described in which force profiles and joint trajectories were recorded for a human-human sit-to-stand experiment. These data were used to develop an impedance-based controller designed to allow the ballbot to help people out of chairs. The control strategy is experimentally verified on the ballbot, a balancing mobile robot, exhibiting lean angles of over 15° and applying more than 120 N of assistive force. To our knowledge, this is the first mobile robot to assist people in standing.
BibTeX
@conference{Shomin-2015-122030,author = {Michael Shomin and Jodi Forlizzi and Ralph Hollis},
title = {Sit-to-stand assistance with a balancing mobile robot},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2015},
month = {May},
pages = {3795 - 3800},
}
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