Norihisa Miyake

Force assistance system for standing‐up motion

In our current research, we are developing a force assistance system for standing up motion. Our developing system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we develop the force assistance system which realizes the natural standing up motion using remaining strength of the patient. Our key ideas are two topics. The first topic is distributed system which controls the support bar and the bed system with coordination among them. The second topic is the combination of force and position control. According to the patients posture during standing up, our control system selects more appropriate control method from them. We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance. The performance of our proposed control scheme is experimented by computer simulations

Force Assistance Control for Standing-Up Motion

In our current research, we are developing a power assistance system for standing up motion. Our developing system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we develop the control scheme which realizes the natural standing up motion with fewer loads to the patient. For developing control scheme, we investigate the standing-up motion of aged people who requires to power support and typical standing up motion by nursing specialist. Comparing with two motions, we set the reference of standing-up motion with our system and we discuss the required assistance force during standing up. Our key ideas are two topics. One topic is control reference using zero moment point. Zero moment point is useful index which shows stability of the patients posture. The other topic is combination of force and position control. According to the patients posture during standing up, our control system select more appropriate control method from them. The performance of our proposed control scheme is experimented by computer simulations

Force Assistance System for Standing-Up Motion

In our current research, we are developing a force assistance system for standing up motion. Our developing system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we develop the force assistance system which realizes the natural standing up motion using remaining strength of the patient. Our key ideas are two topics. The first topic is distributed system which controls the support bar and the bed system with coordination among them. The second topic is the combination of force and position control. According to the patients posture during standing up, our control system selects more appropriate control method from them. We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance. The performance of our proposed control scheme is experimented by computer simulations.

Self-help standing-up method based on quasi-static motion

When supporting standing-up motion, a caregiver takes advantage of gravity force to make sufficient momentum without bearing heavy burden. The physical abilities or decision-making abilities decrease for many of elderly people who need care. We propose a self-help standing-up method for such people. The method with quasi-static motion in which the acceleration is approximated to zero, so as to keep safety at the time of emergency, is preferable. However, the quasi-static motion gives heavy burden to a caregiver because it cannot make efficient use of inertia force by the help of gravity force. Compared to human assist, mechanical system can easily realize the quasi-static motion, since a mechanical system has an ability to hold a large force. However, a quasi-static motion trajectory has to be newly-developed because it is not well known. Therefore, we propose the mechanical system and a quasi-static method for supporting standing-up motion. As an example, the method using artificial upper body constraint, and fitted to physical characteristics of each patient have been proposed. This system is found to be the effectiveness.

Stand-up assist system for elderly using coordinated motion with a bed

A robotic stand-up assist system from a bed, which utilizes coordinated motion with the bed, has been developed. Through the steps of the research and development process, assisting the motion trajectory during the stand-up motion is found to be more important, rather than assisting the power to stand-up. Natural trajectory for the stand-up motion, with the help of the movement of the bed, has been thus studied, and evaluated from joint burden and stability viewpoints.

Distortion Analysis of Stereo Image on Field-Sequential Stereoscopic Vision System and Reforming by Decenterized Binocular Camera.

Optical analyses of stereo vision systems with a parallel or cross arrangement camera optical system have been made to clarify the existence of stereo image distortion by means of optical diagrams. This distortion can be removed by applying decenterized optical systems to a stereo camera, in which the location of the optical axis cross point is decided in accordance with the display optical system. This location must be determined as a function of the camera span, the eye span, and the observing distance, and this cross point cannot be moved to any other place. Furthermore, by analysing distortions of stereo images caused by moving the observing location, an effective method to control camera locations is also presented as that the distortions are canceled. Experiments indicated that this proposed method succeeded to improve the naturalness of stereo vision.