A Virtual Wall for Perception-Assist with a Lower-Limb Power-Assist Robot

Studies on power-assist robots are actively performed to assist human motion. Some of them are applied to assist the daily motion of physically weak persons such as elderly persons. Perception-assist was proposed to avoid an unexpected accident of users of the power-assist robot. In perception-assis...

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Bibliographic Details
Published in2016 Third International Conference on Computing Measurement Control and Sensor Network (CMCSN) pp. 104 - 109
Main Authors Kiguchi, Kazuo, Hora, Takahiro
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2016
Subjects
Collision avoidance
exoskeleton
Foot
Force
Legged locomotion
lower-limb
perception-assist
power-assist
Robot sensing systems
Trajectory
virtual wall
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DOI10.1109/CMCSN.2016.37

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Summary:Studies on power-assist robots are actively performed to assist human motion. Some of them are applied to assist the daily motion of physically weak persons such as elderly persons. Perception-assist was proposed to avoid an unexpected accident of users of the power-assist robot. In perception-assist, a virtual wall is sometimes used to avoid stumbling accident. In this paper, an effective shape of the virtual wall is proposed based on experiments of ascending to a certain bump under various situations. Effective perception-assist is expected using the proposed virtual wall. The effectiveness of the proposed virtual wall was evaluated by performing experiments.
DOI:10.1109/CMCSN.2016.37