Development of non-wearable walking assist robot for preventing falling accident

Terayama, Junya, Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144, Ravankar, Ankit A., Luces, Jose Victorio Salazar and Hirata, Yasuhisa 2022. Development of non-wearable walking assist robot for preventing falling accident. Presented at: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Japan, 01-04 June 2022. The Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec). , vol.2022 JSME, 2A2-C06. 10.1299/jsmermd.2022.2A2-C06

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Abstract

In this research, we propose a novel lightweight and compact walking-assist robot to prevent users from falling accidents. We propose the concept for a new walking assist robot. A two-legged wheeled balancing robot is developed to follow the user’s walking motion based on the concept. Each leg consists of a two-link structure, including one driving wheel and two revolute joints. A base frame was connected by the base of both links. Three basic controllers were developed to keep the base frame at a specific angle, change the robot’s overall height and keep the robot’s balance for moving. We utilize a motion capture system called VIVE to keep the specific distance between humans and robots. The validation experiment shows that the proposed robot can follow user’s walking while keeping balance simultaneously.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Publication
Status:	Published
Schools:	Engineering
Publisher:	JSME
ISSN:	2424-3124
Last Modified:	25 Jan 2023 13:47
URI:	https://orca.cardiff.ac.uk/id/eprint/156229

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