3P1-N03 Experimental Evaluation of Comfort Lift-up Motion for using Nusing-Care Assistant Robot(Sense, Motion and Measurement (2))
作者: DING MingIKEURA RyojunMORI YukiHOSOE Shigeyuki
作者单位: 1Nagoya University
2Mie University:RIKEN RTC
3RIKEN RTC
刊名: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2014, Vol.2014 , pp._3P1-N03_1-_3P1-N03_3
来源数据库: J-STAGE Journals
DOI: 10.1299/jsmermd.2014._3P1-N03_1
英文摘要: In this research, in order to verify the automatic generation method of comfortable lift-up motion for nursing-care assistant robot, we measured human posture and contact forces during lifting-ups using different motions. In order to generate various lift-up motions accurately, an evaluation device is developed. From the measured subjects' postures and contact forces, we calculated the joint angles, normal forces and friction forces. Contact position between subjects and robot arms are also calculated. The ranges of changes are obtained, which can be use to set the parameter of our lift-up simulation. By comparing the most comfortable lift-up motion that subjects selected with other motions, we also obtain some conditions of comfortable lifting-up. These measured data would be used...
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