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JRM Vol.21 No.3 pp. 324-331
doi: 10.20965/jrm.2009.p0324
(2009)

Paper:

Parameter Setting Method for Sit-Stand Assist System Based on Human Model

Yasuhisa Hirata*, Jun'ichi Higuchi*, Takuro Hatsukari*, **, and Kazuhiro Kosuge*

*Department of Bioengineering and Robotics, Tohoku University
6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-85779, Japan

**Research and Development Div., Paramount Bed Co., Ltd.
2-14-5 Higashisuna, Koutou, Tokyo 136-8670, Japan

Received:
September 18, 2008
Accepted:
February 21, 2009
Published:
June 20, 2009
Keywords:
human-robot cooperation, human model, sit-stand assist, parameter setting method
Abstract

The simple sit-stand support we have designed consists of a handrail and height-adjustable electric bed for assisting the user to stand from sitting on the bed. The human-model-based evaluation indexes for sit-stand movement enabled us to set support parameters such as handrail position, bed height, and foot positioning stabilizing the user and reducing the user’s muscle burden. Support system parameters take into account the user’s physical dimensions and disabilities, as verified in experiments.

Cite this article as:
Yasuhisa Hirata, Jun'ichi Higuchi, Takuro Hatsukari, , and Kazuhiro Kosuge, “Parameter Setting Method for Sit-Stand Assist System Based on Human Model,” J. Robot. Mechatron., Vol.21, No.3, pp. 324-331, 2009.
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