Paper Info
Title
A basic study for a robotic transfer aid system based on human motion analysis
Abstract
A metal hydride (MH) actuator uses the reversible reaction between heat energy and mechanical energy of a hydrogen-absorbing alloy and moves smoothly without any noise. Moreover, the actuator is compact, light and has adequate compliance. In this paper, some experiments concerning human motion patterns were carried out in order to adopt the MH actuator to the transfer aid system. The results were evaluated from a biomedical engineering viewpoint in order to obtain the optimal parameters for transferring the disabled from a bed to a wheelchair and vice versa (transfer aid). Sagittal plane kinematics, surface electromyographic signals (EMG) obtained from lower limbs, ground reaction forces and foot pressure distribution were measured using a three-dimensional motion analyzer. From the experimental results, it was found that the motion of the transfer aid was smooth when the initial angle of the ankle was 70 degrees, The best initial angle of the trunk was also found to be about 45 degrees while standing from a bed, However the initial angle of the trunk was best at 60 degrees when a person was in the process of sitting down on a wheelchair. Furthermore, a knee pad which supports the lower limbs requires flexibility in the range of 0.1-0.2 kgf/mm.
Year
DOI
Venue
2001
10.1163/156855301742021
ADVANCED ROBOTICS
Keywords
Field
DocType
transfer aid,surface electromyographic signals,center of pressure,knee pad,metal hydride actuator
Wheelchair,Kinematics,Control theory,Center of pressure (fluid mechanics),Ground reaction force,Engineering,Mechanical energy,Versa,Sagittal plane,Actuator
Journal
Volume
Issue
ISSN
14
7
0169-1864
Citations 
PageRank 
References 
0
0.34
1
Authors
7
Name
Order
Citations
PageRank
Takeshi Tsuruga111.38
Shuichi Ino22112.56
Tohru Ifukube38721.63
Mitsuru Sato4204.50
Toshiaki Tanaka5202.07
Takashi Izumi600.68
Masahiko Muro700.34