JRM Vol.19 No.6 pp. 604-611
doi: 10.20965/jrm.2007.p0604


Rehabilitation Walker with Standing-Assistance Device

Daisuke Chugo, Wataru Matsuoka, Songmin Jia,
and Kunikatsu Takase

Graduate School of Information Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan

April 6, 2007
August 31, 2007
December 20, 2007
standing assistance, force control, position control, walker

The walker with power assistance for standing we propose focuses on home use for those requiring daily assistance. Our key concepts involve (1) a new assistance manipulator with four parallel linkages using smaller actuators and rigid with lighter linkages than general manipulators, providing compact assistance at low cost; and (2) a combination of force and position control. Based on the user’s posture while standing, our proposed control selects appropriate control using the reference of standing based on typical standing by nursing specialists for realizing natural assistance. The conductance of our proposed assistance is verified by computer simulation and experiments using a prototype.

Cite this article as:
Daisuke Chugo, Wataru Matsuoka, Songmin Jia, and
and Kunikatsu Takase, “Rehabilitation Walker with Standing-Assistance Device,” J. Robot. Mechatron., Vol.19, No.6, pp. 604-611, 2007.
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