TY - JOUR
T1 - Translation and inclination control for Intelligent Tension Pole based on mode decoupling method
AU - Hanaoka, Ryo
AU - Nozaki, Takahiro
AU - Murakami, Toshiyuki
N1 - Funding Information:
In this paper, the structure and control system of a novel assist device, Intelligent Tension Pole (ITP), to assist walking, standing up and sitting down in indoor are proposed. There are few devices which focus on assisting all of three motions without inconvenience by size or stability, though many kinds of the motion assist device are developed. Therefore, the ITP is proposed which is expected to provide support for achieving self-reliance, space saving, and stability. Wheels are added to the lower and upper ends of the tension pole. In addition, the ball screw which enables the ITP to move while stretching to the floor and ceiling at any time by the force control is added. In order to improve user comfort and reduce the risk of falling down of the ITP, the translation control and inclination control of the ITP are applied to the wheel control. These controls are controlled independently by the mode decoupling method. The validity of the proposed control system was tested through experiments. The translation mode and inclination mode control was conducted independently according to the movement of the IMU attached on the foot and the estimated reaction torque of the upper wheel respectively. Thanks to the proposed method, the acceleration change and undesired moving are suppressed. Therefore, the user comfort is improved. In addition, the stability of the system including the human and ITP is maintained regardless of the external force from the human. As a result, it is expected that the risk of falling down of the ITP is reduced. Acknowledgment This work was supported in part by a Grant-in-Aid for Scientific Research (15H02235).
Publisher Copyright:
© 2018 The Institute of Electrical Engineers of Japan.
PY - 2018
Y1 - 2018
N2 - An aging society is a serious problem in many developed countries. Due to this issue, there has been a significant increase in the demand for assist devices that can support human motion. This paper proposes a novel assist device, Intelligent Tension Pole (ITP), to assist in indoor activities of daily living (ADL), and it is expected to provide support for achieving self-reliance, space saving, and stability. The structure and control system of this assist device are presented. This novel assist device is based on a movable handrail, and therefore wheels are added to the lower and upper ends of the tension pole. In addition, a ball screw, which enables the ITP to move while stretching to the floor and ceiling at any time using force control, is added. In order to improve user comfort and reduce the risk of falling down of the ITP, translation and inclination controls of the ITP are applied to the wheel control. These controls are controlled independently by the mode decoupling method. Experiments are conducted to verify the effectiveness of the proposed device and its control system.
AB - An aging society is a serious problem in many developed countries. Due to this issue, there has been a significant increase in the demand for assist devices that can support human motion. This paper proposes a novel assist device, Intelligent Tension Pole (ITP), to assist in indoor activities of daily living (ADL), and it is expected to provide support for achieving self-reliance, space saving, and stability. The structure and control system of this assist device are presented. This novel assist device is based on a movable handrail, and therefore wheels are added to the lower and upper ends of the tension pole. In addition, a ball screw, which enables the ITP to move while stretching to the floor and ceiling at any time using force control, is added. In order to improve user comfort and reduce the risk of falling down of the ITP, translation and inclination controls of the ITP are applied to the wheel control. These controls are controlled independently by the mode decoupling method. Experiments are conducted to verify the effectiveness of the proposed device and its control system.
KW - Handrail
KW - Inertial measurement unit (IMU)
KW - Mode decoupling
KW - Motion assistance
KW - Tension Pole
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U2 - 10.1541/ieejjia.7.158
DO - 10.1541/ieejjia.7.158
M3 - Article
AN - SCOPUS:85046246507
SN - 2187-1094
VL - 7
SP - 158
EP - 165
JO - IEEJ Journal of Industry Applications
JF - IEEJ Journal of Industry Applications
IS - 2
ER -