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Approach Motion Generation of the Self-Aided Manipulator for Bed-ridden Patients

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Complex Medical Engineering

Abstract

Rehabilitation robots that are used with humans should move naturally and should not cause discomfort. A system that can generate natural approach motion for a self-aided manipulator for bed-ridden patients based on the individual patient’s characteristic motion has been developed. The self-aided manipulator is assumed to provide the function of bringing a drink from a side table to the patient.

Approach motions resembling those of individual subjects can be generated using six characteristic points of the path and spline interpolation. In order to calculate the position and time of characteristic points, linear approximation formulas derived from measured paths of each subject are used. In addition, the target lip position and direction were measured using a single video camera, and a manipulator drive test was performed in order to demonstrate the effectiveness of the system.

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Author information

Authors and Affiliations

  1. Department of Rehabilitation Engineering, Polytechnic University, Kanagawa, Japan

    Akihiko Hanafusa, Johta Sasaki, Teruhiko Fuwa & Yasuhito Shiota

  2. Electronic Technology Group, Shizuoka Prefectural Numazu Vocational Training Center, Shizuoka, Japan

    Hiroko Washida

Authors
  1. Akihiko Hanafusa
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  2. Hiroko Washida
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  3. Johta Sasaki
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  4. Teruhiko Fuwa
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  5. Yasuhito Shiota
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Editor information

Editors and Affiliations

  1. Department of Intelligent Mechanical Systems, Faculty of Engineering, Kagawa University, 2217-20 Hayashi, Takamatsu, 761-0396, Japan

    Jing Long Wu Ph.D. (Professor) (Professor)

  2. Complex Systems Analysis, Adaptive & Learning Systems, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama, 226-8503, Japan

    Koji Ito Dr.Eng. (Professor) (Professor)

  3. Department of Clinical Neurophysiology, Neurological Institute, Graduate School of Medical Science, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka, 812-8582, Japan

    Shozo Tobimatsu M.D. (Professor and Chairman) (Professor and Chairman)

  4. Department of Intelligence Science and Technology, Graduate School of Informatics, Kyoto University, Yoshida Honmachi, Sakyo-ku, Kyoto, 606-8501, Japan

    Toyoaki Nishida Dr.Eng. (Professor) (Professor)

  5. Human Brain Research Center, Kyoto University Graduate School of Medicine, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto, 606-8507, Japan

    Hidenao Fukuyama M.D., Ph.D. (Professor) (Professor)

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© 2007 Springer

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Hanafusa, A., Washida, H., Sasaki, J., Fuwa, T., Shiota, Y. (2007). Approach Motion Generation of the Self-Aided Manipulator for Bed-ridden Patients. In: Wu, J.L., Ito, K., Tobimatsu, S., Nishida, T., Fukuyama, H. (eds) Complex Medical Engineering. Springer, Tokyo. https://doi.org/10.1007/978-4-431-30962-8_21

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  • DOI: https://doi.org/10.1007/978-4-431-30962-8_21

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-30961-1

  • Online ISBN: 978-4-431-30962-8

  • eBook Packages: EngineeringEngineering (R0)

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