Paper Info
Title
Tandem Stance Avoidance Using Adaptive and Asymmetric Admittance Control for Fall Prevention
Abstract
Fall prevention is one of the most important functions of walking assistance devices for user’s safety. It is preferable that these devices prevent the user from being in the state where the risk of falling is high rather than helping them recovering from falling motion. During turning, when the user is in the tandem stance, a state where both legs form a line along walking direction, a support base that is surrounded by two legs becomes small, and a stability margin becomes small. This paper therefore aims to prevent the tandem stance by using nonwearable robot “ intelligent cane ” for the elderly or physically challenged person. Generally, the behavior of the lower limb follows the upper body turning. This paper therefore introduces a cane robot control method which constrains the behavior of user ’s upper body. By adjusting an admittance parameter of the robot according to the positions of a support leg, the robot resists to turn while a support leg is on the same side of the turning direction. A swing leg on the turning direction side therefore freely moves to the turning direction, while a swing leg on the opposite direction side of turning hardly move to the turning direction.
Year
DOI
Venue
2015
10.1109/TNSRE.2015.2429315
IEEE International Conference on Robotics and Automation
Keywords
Field
DocType
Accident prevention, human-robot interaction, rehabilitation robotics, tandem stance
Tandem,Lower limb,Simulation,Fall prevention,Control theory,Control engineering,Engineering,Robot,Admittance,Swing
Conference
Volume
Issue
ISSN
PP
99
1534-4320
Citations 
PageRank 
References 
3
0.44
5
Authors
7
Name
Order
Citations
PageRank
Shotaro Nakagawa1123.18
Pei, D.2488.93
Yasuhisa Hasegawa345694.62
Toshio Fukuda42723818.58
Izumi Kondo541.46
Masanori Tanimoto641.12
Jian Huang7727.61