Title :
Development of a Humanoid Robot Capable of Leaning on a Walk-assist Machine
Author :
Ogura, Yu. ; Aikawa, Hiroyuki ; Shimomura, Kazushi ; Kondo, Hideki ; Morishima, Akitoshi ; Lim, Hun-ok ; Takanishi, Atsuo
Author_Institution :
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo
Abstract :
A new humanoid robot-WABIAN-2- that can be used as a human motion simulator is proposed in this paper. Its trunk is designed in order to permit rotation, and forward, backward, and sideway movement. Further, its arms are designed to support its complete weight when pushing a walk-assist machine. Moreover, it can lean on a walk-assist machine by forearm control using trunk motion. Basic walking experiments with WABIAN-2 are conducted with and without a walk-assist machine, thereby confirming its effectiveness
Keywords :
gait analysis; humanoid robots; medical robotics; orthotics; patient rehabilitation; WABIAN-2; biped robot; forearm control; human motion simulator; humanoid robot; robot design; stretch walking; trunk motion; walk-assist machine; Humanoid robots; Humans; Instruments; Legged locomotion; Mechanical engineering; Motion control; Rehabilitation robotics; Service robots; Testing; Torque measurement;
Conference_Titel :
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location :
Pisa
Print_ISBN :
1-4244-0040-6
DOI :
10.1109/BIOROB.2006.1639194
