By Topic

Robot assistive device for augmenting standing-up capabilities in impaired people

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
R. Kamnik ; Fac. of Electr. Eng., Ljubljana Univ., Slovenia ; T. Bajd

A robot assistive device is presented aimed for training and evaluation of standing-up in impaired people. The robot device is designed as a 3 DOF mechanism supporting the subject under the buttocks. The device is driven by an electrohydraulic servosystem capable to operate in a position or in force control mode. The evaluation of the standing-up assistive device was accomplished in rising trials of a paraplegic subject. In the experiments the position control approach was employed. The results proved that the device can be efficiently used for training and evaluation of standing-up maneuver. Furthermore, an algorithm is proposed which generates the reference value of the man/machine interaction force to be tracked by the robot force controller. The simulation results proved an adequate and robust performance. In this manner, the novel robot device can be utilized in the "robot driven" or the "patient driven" standing-up training.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003