2P1-E20 排泄介護支援システム「トイレアシスト」における位置決め精度の検証(医療・福祉ロボティクス・メカトロニクス)

概要

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We are involved in the development of "toilet assist" that supports excretion care for elderly and handicapped people. The "toilet assist" is a mobile toilet robot that moves to the appropriate position autonomously and supports stand-up/sit-down by lifting up/down the toilet seat. In this report, we used the prototype toilet assist with omnidirectional motion mechanism and two laser range sensors in the limited space of the toilet room in the care house. We confirmed by experiments the validity of the previously developed localization method in the environment where human exists in the working space. Using this localization algorithm, we controlled the toilet assist using various speed for the given trajectory, and compared final positioning accuracy. We confirmed the slow measurement and calculation time for the localization affects the result of the positioning as well as big inertia of the toilet robot.
一般社団法人日本機械学会の論文
2008-06-06