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JRM Vol.22 No.4 pp. 418-429
doi: 10.20965/jrm.2010.p0418
(2010)

Paper:

Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Body in the Nursing Activity

Haiwei Dong, Zhiwei Luo, and Akinori Nagano

Department of Computational Science, Graduate School of System Informatics, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan

Received:
December 14, 2009
Accepted:
April 13, 2010
Published:
August 20, 2010
Keywords:
human body, model reduction, adaptive attitude control, human parameters identification
Abstract

With the development of human society, there are more and more elderly people need to be taken care of. However, there is not enough labor force to take the nursing jobs. Nowadays robots play more and more important roles in our daily life, especially in nursing activities. In this paper, we illustrate a new attitude control approach to lift human regardless of the individual differences, such as height, weight, and so on. In detail, considering our daily experience that only very few joints are critical for accomplishing the lifting up task, we treats the human body as a redundant system. We use robust adaptive control to eliminate the effects from the “uninterested joints” and identify the human parameters in real time. In addition, the convergence analysis, including tracking time and track error, is also given. The approach is simulated by lifting a human skeleton with two robot arms, which verifies the efficiency and effectiveness of our strategy.

Cite this article as:
Haiwei Dong, Zhiwei Luo, and Akinori Nagano, “Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Body in the Nursing Activity,” J. Robot. Mechatron., Vol.22, No.4, pp. 418-429, 2010.
Data files:
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