Development of Three-axis Seating Posture Holding Assist Chair and Proposed Variable Compliance Control

被引：0

作者：

Togashi, Nobuyuki ^{[1
]}

Shimono, Tomoyuki ^{[1
,2
]}

Nozaki, Takahiro ^{[1
,3
]}

Shibata, Toshio ^{[4
]}

Aoyama, Yuuki ^{[4
]}

Kitahashi, Yuki ^{[5
]}

机构：

[1] Kanagawa Inst Ind Sci & Technol, 3-2-1 Sakado, Kawasaki, Kanagawa 2130012, Japan

[2] Yokohama Natl Univ, Fac Engn, 79-5 Tokiwadai, Yokohama, Kanagawa 2408501, Japan

[3] Keio Univ, Dept Syst Design Engn, Kouho Ku, 3-14-1 Hiyoshi, Yokohama, Kanagawa 2238522, Japan

[4] Natl Rehabil Ctr Children Disabil, Dept Rehabil, Phys Therapy, Itabashi Ku, 1-1-10 Komone, Tokyo 1730037, Japan

[5] Natl Rehabil Ctr Children Disabil, Dept Rehabil, Occupat Therapy, Itabashi Ku, 1-1-10 Komone, Tokyo 1730037, Japan

来源：

2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM) | 2019年

关键词：

seating posture holding assist; variable compliance control; motion control; human life support system;

D O I：

10.1109/icmech.2019.8722874

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper introduces the development of the seating posture holding assist chair and proposes the variable compliance control method. The children with cerebral palsy (CP) cannot control the seating posture themselves. In order to support their life, a wheelchair for holding the seating posture is used. However, the seating posture is holding forcibly. As a result, they get stressed and press their back to wheelchair. From the backgrounds, the seating posture holding assist chair is developed in our research. This chair has three-degrees rotational axis in reclining, twist of hip, and neck. Furthermore, the variable compliance control for holding seating posture is proposed. By experiment of reclining control, the proposed control method is verified.

引用

页码：455 / 460

页数：6

共 9 条

[1]

Bayon C., 2016, TRANSL BIOMED, DOI DOI 10.21767/2172-0479.100044

[2]

Dennis C. W., 2011, POW SYST C EXP PSCE, P1

[3]

Maisa L., 2011, J NEUROENG REHABIL, V8

[4] A robotic wheelchair trainer: design overview and a feasibility study [J].

Marchal-Crespo, Laura ;

Furumasu, Jan ;

Reinkensmeyer, David J. .

JOURNAL OF NEUROENGINEERING AND REHABILITATION, 2010, 7

[5]

Meng QN, 2017, C IND ELECT APPL, P876, DOI 10.1109/ICIEA.2017.8282963

[6] Definition and classification of cerebral palsy: a historical perspective [J].

Morris, Christopher .

DEVELOPMENTAL MEDICINE AND CHILD NEUROLOGY, 2007, 49 :3-7

[7] Task Realization by a Force-Based Variable Compliance Controller for Flexible Motion Control Systems [J].

Motoi, Naoki ;

Shimono, Tomoyuki ;

Kubo, Ryogo ;

Kawamura, Atsuo .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2014, 61 (02) :1009-1021

[8] TORQUE SENSORLESS CONTROL IN MULTIDEGREE-OF-FREEDOM MANIPULATOR [J].

MURAKAMI, T ;

YU, FM ;

OHNISHI, K .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1993, 40 (02) :259-265

[9] Motion control for advanced mechatronics [J].

Ohnishi, K ;

Shibata, M ;

Murakami, T .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 1996, 1 (01) :56-67

← 1 →