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
|
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: | 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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