Title :
Power assist control of robotic orthoses with macro-micro structure in human care
Author :
Nagai, Kiyoshi ; Nakanishi, Isao
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Kyoto, Japan
Abstract :
Discusses a control problem of robotic orthoses attached to the arms of a caregiver for power assistance. Target motions of caregivers are described first. Adopting a macro-micro structure for the robotic orthoses is then discussed. A stability problem is also discussed for the power assisting control proposed by the authors
Keywords :
medical robotics; orthotics; patient care; stability; caregiver; human care; macro-micro structure; power assist control; robotic orthoses; stability problem; Aging; Arm; Fatigue; Humans; Mobile robots; Orthotics; Robot control; Safety; Stability; Wheelchairs;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.812555
