Sitting Assistance considering with Posture Tolerance of its User

摘要

This paper proposes a novel sitting assistance robot, which considers the posture tolerance of its user. The standing and sitting motion are different essentially because the standing is lifting motion against gravitational force and sitting is posture coordination to sitting position according to the gravity. Therefore, the robot should lead the patient’s posture within a stable range during sitting and the required performance is different from standing assistance. However, in previous studies, conventional assistive robots used the sitting motion which is reverse motion of standing. Furthermore, these robots helped patients by using a fixed motion reference pathway in spite of their original intention, and as the results, these robots failed to assist by confliction between their intended motion and reference path. Therefore, we propose a novel sitting assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a standing to a sitting position. Our key findings cover two fundamental research topics. One is the investigation into posture tolerance during a sitting motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients sitting down safely according to their original intention.