J1102-4-2 移動支援機器Tread-Walk 1における搭乗者の位置を考慮した旋回アルゴリズムの開発([1102-4]ライフサポート(4))

概要

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We have been developing an original personal mobility "Tread-Walk 1". In Tread-Walk 1, walking velocity is detected on the treadmill and is amplified as driving velocity. Therefore, the user can expand his/ her activity area by walking movement. However, the user tends to be unstable in turn movement due to the centrifugal force. In this paper, we develop a safety turn movement algorithm by considering with walking position on the Tread-Walk. Moreover, the developed algorithm is evaluated using tape switches put on the handle of the Tread-Walk by three young subjects. The grasping time during turn movement is decreased by adding the developed algorithm. Therefore, the algorithm considering with walking position is more safety than that without waling position.
一般社団法人日本機械学会の論文
2010-09-04