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このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/15057
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| タイトル: | Development of JARoW-II Active Robotic Walker Reflecting Pelvic Movements while Walking |
| 著者: | Ohnuma, Takanori
Lee, Geunho
Chong, Nak Young |
| キーワード: | Welfare robotics
Robotic walker
Human-robot interaction
Easy maneuverability
Walking intent
Pelvic movements |
| 発行日: | 2017-01-11 |
| 出版者: | Springer |
| 誌名: | Intelligent Service Robotics |
| 巻: | 10 |
| 号: | 2 |
| 開始ページ: | 95 |
| 終了ページ: | 107 |
| DOI: | 10.1007/s11370-016-0212-7 |
| 抄録: | This paper addresses the problem of a novel walking assist scheme considering pelvic movements. Generally, pelvic motion includes pelvic tilt, pelvic rotation, and lateral pelvic displacement. When a human walks, the pelvis is meant to both tilt and rotate. Specifically, rotational movement on the pelvis’ transverse plane and tilting movement on its coronal plane are related to stride length and step width in walking and center-of-gravity swaying in the left-and-right direction, respectively. With these considerations, we introduce the innovative design of our second generation assist robotic walker (JARoW-II) for elderly people in need of supervision. And, this paper proposes a pelvic based walking-support control technique employing JARoW-II. By facilitating pelvic movements while walking, we try to enhance and/or maintain ambulatory performances such as stride length. As another important feature, the scheme is realized without use of specific manual controls or additional equipment. In detail, JARoW-II allows to accurately generate both the direction and location of walking movement and the pelvic movement in a way that corresponds to the user’s walking steps. In this paper, the implementation details based on the walking-support scheme are explained, and the effectiveness of the scheme by using JARoW-II is verified through extensive experiments in everyday environments. |
| Rights: | This is the author-created version of Springer, Takanori Ohnuma, Geunho Lee, Nak Young Chong, Intelligent Service Robotics, 10(2), 2017, 95-107. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11370-016-0212-7 |
| URI: | http://hdl.handle.net/10119/15057 |
| 資料タイプ: | author |
| 出現コレクション: | b10-1. 雑誌掲載論文 (Journal Articles)
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このアイテムのファイル:
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記述 |
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| 23055.pdf | | 828Kb | Adobe PDF | 見る/開く |
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