A Standing-up Assist Control Method Considering Movement Speed

Atsushi Hiraoka; Toshiyuki Murakami

doi:10.1109/IECON43393.2020.9254919

A Standing-up Assist Control Method Considering Movement Speed

Atsushi Hiraoka, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

With the rapid aging population, the need for standing-up assist device has grown because standing-up movement is essential for independent living. The standing-up assist controller needs to accomplish high trajectory-following without high rigidity. Therefore, compliant force coordinate transformation control (CFCT) is applied to the controller. This control method induces user to model trajectory effortlessly. Moreover, this paper proposes the algorithm which considers the differences of standing-up movement speed. The proposed algorithm enables the assist device to support the user regardless of the difference of movement speed. The controller is evaluated through experiments.

Original language	English
Title of host publication	Proceedings - IECON 2020
Subtitle of host publication	46th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	71-76
Number of pages	6
ISBN (Electronic)	9781728154145
DOIs	https://doi.org/10.1109/IECON43393.2020.9254919
Publication status	Published - 2020 Oct 18
Event	46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore Duration: 2020 Oct 19 → 2020 Oct 21

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2020-October

Conference

Conference	46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
Country/Territory	Singapore
City	Virtual, Singapore
Period	20/10/19 → 20/10/21

Keywords

compliant control
coordinate transformation
movement speed
standing-up assist device

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON43393.2020.9254919

Cite this

Hiraoka, A., & Murakami, T. (2020). A Standing-up Assist Control Method Considering Movement Speed. In Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society (pp. 71-76). Article 9254919 (IECON Proceedings (Industrial Electronics Conference); Vol. 2020-October). IEEE Computer Society. https://doi.org/10.1109/IECON43393.2020.9254919

A Standing-up Assist Control Method Considering Movement Speed. / Hiraoka, Atsushi; Murakami, Toshiyuki.
Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2020. p. 71-76 9254919 (IECON Proceedings (Industrial Electronics Conference); Vol. 2020-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hiraoka, A & Murakami, T 2020, A Standing-up Assist Control Method Considering Movement Speed. in Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society., 9254919, IECON Proceedings (Industrial Electronics Conference), vol. 2020-October, IEEE Computer Society, pp. 71-76, 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020, Virtual, Singapore, Singapore, 20/10/19. https://doi.org/10.1109/IECON43393.2020.9254919

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abstract = "With the rapid aging population, the need for standing-up assist device has grown because standing-up movement is essential for independent living. The standing-up assist controller needs to accomplish high trajectory-following without high rigidity. Therefore, compliant force coordinate transformation control (CFCT) is applied to the controller. This control method induces user to model trajectory effortlessly. Moreover, this paper proposes the algorithm which considers the differences of standing-up movement speed. The proposed algorithm enables the assist device to support the user regardless of the difference of movement speed. The controller is evaluated through experiments.",

keywords = "compliant control, coordinate transformation, movement speed, standing-up assist device",

author = "Atsushi Hiraoka and Toshiyuki Murakami",

note = "Funding Information: ACKNOWLEDGMENT This work was supported in part by KEIRIN JKA(2020M-127). Publisher Copyright: {\textcopyright} 2020 IEEE.; 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 ; Conference date: 19-10-2020 Through 21-10-2020",

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AB - With the rapid aging population, the need for standing-up assist device has grown because standing-up movement is essential for independent living. The standing-up assist controller needs to accomplish high trajectory-following without high rigidity. Therefore, compliant force coordinate transformation control (CFCT) is applied to the controller. This control method induces user to model trajectory effortlessly. Moreover, this paper proposes the algorithm which considers the differences of standing-up movement speed. The proposed algorithm enables the assist device to support the user regardless of the difference of movement speed. The controller is evaluated through experiments.

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A Standing-up Assist Control Method Considering Movement Speed

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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