Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance*
Name
2003.02080.pdf
Description
Submitted version
Size
2.77 MB
Format
Unknown
Checksum (MD5)
c579576ce1763398b52c7dd38671b507
Author(s)
Wu, Xia
Liu, Haiyuan
Liu, Ziqi
Chen, Mingdong
Wan, Fang
Fu, Chenglong
Asada, H. Harry
Wang, Zheng
Song, Chaoyang
Date Issued
2020
Journal
2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Wu, Xia, Liu, Haiyuan, Liu, Ziqi, Chen, Mingdong, Wan, Fang et al. 2020. "Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance*." 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020.
Version
Original manuscript
Abstract
© 2020 IEEE. Many researchers have identified robotics as a potential solution to the aging population faced by many developed and developing countries. If so, how should we address the cognitive acceptance and ambient control of elderly assistive robots through design? In this paper, we proposed an explorative design of an ambient SuperLimb (Supernumerary Robotic Limb) system that involves a pneumatically-driven robotic cane for at-home motion assistance, an inflatable vest for compliant human-robot interaction, and a depth sensor for ambient intention detection. The proposed system aims at providing active assistance during the sit-to-stand transition for at-home usage by the elderly at the bedside, in the chair, and on the toilet. We proposed a modified biomechanical model with a linear cane robot for closed-loop control implementation. We validated the design feasibility of the proposed ambient SuperLimb system including the biomechanical model, our result showed the advantages in reducing lower limb efforts and elderly fall risks, yet the detection accuracy using depth sensing and adjustments on the model still require further research in the future. Nevertheless, we summarized empirical guidelines to support the ambient design of elderly-assistive SuperLimb systems for lower limb functional augmentation.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOSOFT48309.2020.9116028
