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Development of a robot arm controlled by force sensors as a walking aid for elderly

Published online by Cambridge University Press:  01 September 1998

Makoto Suzuki ,
Ken Masamune ,
Lin-Jong Ji ,
Takeyoshi Dohi  and
Hideo Yano
Makoto Suzuki
Affiliation:
Department of Precision Engineering, the University of Tokyo, 7–3–1 Hongo Bunkyo-ku, Tokyo 113, Japan
Ken Masamune
Affiliation:
Department of Precision Engineering, the University of Tokyo, 7–3–1 Hongo Bunkyo-ku, Tokyo 113, Japan
Lin-Jong Ji
Affiliation:
Department of Precision Engineering, the University of Tokyo, 7–3–1 Hongo Bunkyo-ku, Tokyo 113, Japan
Takeyoshi Dohi
Affiliation:
Department of Precision Engineering, the University of Tokyo, 7–3–1 Hongo Bunkyo-ku, Tokyo 113, Japan
Hideo Yano
Affiliation:
Research Institute, National Rehabilitation Center for the Disabled, 4–1 Namiki Tokorozawa-shi, Saitama 359, Japan
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Abstract

This paper presents a prototype development of a robot arm to assist walking of elderly people. For effective use in Japanese houses, a robot arm mounted on a rail was designed. Force sensors were used to provide an easy-to-use interface. Thresholds of forces were determined to detect the user's intention to walk as well as for safety considerations. Applying a step by step motion, the arm could follow the rhythmical walking of the subject. We examined an interface method using force sensors and concluded that it can detect the user's motion at the beginning of a walk.

Keywords

Rehabilitation roboticsWalking aidsAssistive technologyAgeing society
Type
Research Article
Information
Robotica , Volume 16 , Issue 5 , September 1998 , pp. 537 - 542
Copyright
© 1998 Cambridge University Press

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