カイゴ シエン ロボット ノ ダキアゲ ドウサ セイセイ
丁明
生駒 : 奈良先端科学技術大学院大学, 2015.6
Lecture Archive
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Nursing care is a very important job for helping person to regain health or achieve the quality of life. Many nursing-care assistant robot and device have been developed in recent years. In this presentation, I will introduce a nursing-care assistant robot (Robear) we developed when I worked in RIKEN. This robot was successful in lifting patient up and transferring him/her between bed and wheelchair using its two human-like arms. In order to lift up patients comfortably and automatically, I proposed a motion generation method by reducing patient's load and pain feeling during lifting-up. In this method, the contact force and muscle force can be estimated using a human-robot model. We also measured the stiffness of human body for reducing the pain feeling. The effectiveness of this method has also been verified in experiment. In this presentation, I will also introduce this method and show the experiment and the result.
2015
電子化映像資料(29分27秒)
Lift-up Motion Generation for Nursing-Care Assistant Robot
情報科学研究科・ゼミナール講演 ; 平成27年度
講演者所属: 奈良先端科学技術大学院大学 情報科学研究科ロボティクス研究室
講演日: 平成27年6月1日
講演場所: 情報科学研究科大講義室L1
Japan
Japanese (jpn)
Japanese (jpn)
丁, 明 (ディン, ミン)
