Mobile follower robot as an assistive device for home oxygen therapy – evaluation of tether control algorithms

Home Oxygen Therapy (H.O.T.) is a medical treatment for severe lung diseases in which the patients are supplied concentrated oxygen. This paper investigates the use of a follower robot as a support device for H.O.T. patients, consisting of a two-wheeled differential drive robot connected to the user...

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Bibliographic Details
Published inROBOMECH journal Vol. 2; no. 1; pp. 1 - 6
Main Authors Endo, Gen, Allan, Ben, Iemura, Yu, Fukushima, Edwardo F, Iribe, Masatsugu, Takubo, Toshio, Ohira, Mineko
Format Journal Article
LanguageEnglish
Published Cham Springer International Publishing 15.02.2015
Springer Nature B.V
BioMed Central Ltd
Subjects
Artificial Intelligence
Computational Intelligence
Control and Systems Theory
Engineering
Mechatronics
Research Article
Robotics and Automation
Home oxygen therapy
Leader following
Mobile robot
Tether
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Summary:Home Oxygen Therapy (H.O.T.) is a medical treatment for severe lung diseases in which the patients are supplied concentrated oxygen. This paper investigates the use of a follower robot as a support device for H.O.T. patients, consisting of a two-wheeled differential drive robot connected to the user by tether. Two different control algorithms were studied using dynamic simulation and motion capture experiments with healthy subjects. In further experiments with H.O.T. patients, including a questionnaire survey, it was confirmed that Follow the Leader control was capable of following the user’s trajectory more accurately than Pseudo-Joystick control, and that overall H.O.T. patients showed a preference for Follow the Leader control.
ISSN:2197-4225
2197-4225
DOI:10.1186/s40648-014-0026-3