Development of Assistant Robot with Standing-up Devices for Paraplegic Patients and Elderly People

An assistant robot with standing-up devices(ARSD) was developed according to the demands of paraplegic patients and elderly people. The robot can assist disabled persons during the sit-to-stand transfer and can also carrying them to move. In order to make the design and development of the robot more efficient and reliable, virtual prototype technology was employed. The model of the robot is built by Solid Works and is imported to ADAMS through Para Solid pipe. An algorithm based on neural network speed control was presented to implement path following for the robot. Furthermore, a co-simulation was performed using ADAMS and MATLAB to validate the control strategy.

[1]  Xiong Guang-leng.  Virtual Prototyping Technology , 2001 .

[2]  Michael Hillman,et al.  Rehabilitation robotics from past to present - a historical perspective , 2003 .

[3]  R. D. Jackson,et al.  Rehabilitation robotics in Europe , 1995 .

[4]  Gong Jian-wei.  HEADING PREDICTION CONTROL ALGORITHM FOR WHEELED MOBILE ROBOT , 2001 .

[5]  R. D. Jackson.  Robotics and its role in helping disabled people , 1993 .

[6]  R. Rajagopalan,et al.  Comparative study of velocity and computed torque control schemes for a differentially driven automated vehicle , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  Gheorghe Livint,et al.  Robot and FES technology for augmenting standing-up and sitting-down capabilities , 2003, IEEE International Conference on Industrial Technology, 2003.

[8]  Jin Young Choi,et al.  Sliding mode tracking control of nonholonomic wheeled mobile robots , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[9]  Lu Jilian.  Application of Taguchi Method in Experiment Design of WSMR Virtual Prototype , 2004 .

[10]  Tadej Bajd,et al.  Robot assistive device for augmenting standing-up capabilities in impaired people , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[11]  Etienne Colle,et al.  ARPH-assistant robot for handicapped people-a pluridisciplinary project , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[12]  M. Topping.  The development of Handy 1 a robotic aid to independence for the severely disabled , 1995 .

[13]  H.F.M. Van der Loos,et al.  VA/Stanford rehabilitation robotics research and development program: lessons learned in the application of robotics technology to the field of rehabilitation , 1995 .