| Popis: |
This paper proposes a novel standing assistance scheme that guides a subject to adopt a suitable posture using intended movements and voice messages. In much previous research, an assistive robot requires the patient to understand the standing reference beforehand and generally, the subject learns the standing motion used by the robot. However, for practical use, a patient should be able to use an assistive robot without special prior knowledge. Nursing specialists also guide their patients with an intended movement and a voice message. For example, when they incline a patient's upper body before lifting it up, they notify the patient of a motion start with simpler words and guide the patient's body with a special moving pattern. Therefore, in this paper, we develop a standing assistance scheme that guides the patient to stand in the intended way based on skills of these nursing specialists. The effectiveness of the proposed method is verified by experiments with our prototype. |
