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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| Published in | ROBOMECH journal Vol. 2; no. 1; pp. 1 - 6 |
|---|---|
| Main Authors | , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Cham
Springer International Publishing
15.02.2015
Springer Nature B.V BioMed Central Ltd |
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| Abstract | 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. |
|---|---|
| AbstractList | 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. 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. Abstract 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. |
| ArticleNumber | 6 |
| Author | Takubo, Toshio Iribe, Masatsugu Allan, Ben Fukushima, Edwardo F Iemura, Yu Endo, Gen Ohira, Mineko |
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| Cites_doi | 10.1164/ajrccm.163.5.2101039 10.1016/S0954-6111(97)90005-6 |
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| Copyright | Endo et al.; licensee Springer. 2015. This is an Open Access article distributed under the terms of the Creative Commons Attribution License ( ), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly credited. The Author(s) 2015 |
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| References | JanssensJPRochatTFreyJGDousseNPichardCTschoppJMHealth-related quality of life in patients under long-term oxygen therapy: a home-based descriptive studyRespir Med1997911059260210.1016/S0954-6111(97)90005-6 TaniAEndoGFukushimaEFHiroseSIribeMTakuboTStudy on a practical robotic follower to support home oxygen therapy patients - development and control of a mobile platformIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 20112011New Jersey, USAIEEE24232429 KidaKHome oxygen therapy in Japan: clinical application and considerations for practical implementationJpn Med Assoc J20111381299104 PauwelsRABuistASCalverleyPMJenkinsCRHurdSSGlobal strategy for the diagnosis, management, and prevention of chronic obstructive pulmonary diseaseAm J Respir Crit Care Med201216351256127610.1164/ajrccm.163.5.2101039 World Health OrganizationTop 10 Causes of Death: Fact Sheet No. 310. http://www.who.int/mediacentre/factsheets/fs310/en/. KrishnaMBaresJMutschlerETethering system design for dante iiRobotics and Automation, Albuquerque, New Mexico, 1997, vol. 21997New Jersey, USAIEEE11001105 RohmerESinghSPNFreeseMV-rep: A versatile and scalable robot simulation frameworkProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2013New Jersey, USAIEEE13211326 FukushimaEFKitamuraNHiroseSA new flexible component for field robotic systemsProceedings of the IEEE International Conference on Robotics and Automation, San Francisco, California, 2000, vol. 32000New Jersey, USAIEEE25832588 26_CR1 RA Pauwels (26_CR3) 2012; 163 E Rohmer (26_CR8) 2013 K Kida (26_CR2) 2011; 138 JP Janssens (26_CR4) 1997; 91 EF Fukushima (26_CR6) 2000 A Tani (26_CR7) 2011 M Krishna (26_CR5) 1997 |
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| Snippet | 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... Abstract Home Oxygen Therapy (H.O.T.) is a medical treatment for severe lung diseases in which the patients are supplied concentrated oxygen. This paper... |
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| Title | Mobile follower robot as an assistive device for home oxygen therapy – evaluation of tether control algorithms |
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