| Due to the aging society,disabled and semi-disabled elderly increase rapidly.How to solve the daily care of the elderly with a modern way is a work for researchers in the field of robots always working on.Currently,a lot of research focusing on the walking assistant robots had been done by many scholars.At present,there are three kinds of robots with the function of walking,the exoskeleton robot,the Walking frame robot and the cane robot.The three robots have their own advantages and disadvantages.The exoskeleton robot was connected with users by bundling.It causes the user’s body with poor blood circulation and it is too unachievable for an elderly to wear the equipment independently.The Walking frame robots are usually with large size and restrict human motion,which is not suitable for indoor environment.The supporting force is relatively insufficient provided by cane robot,but it is more flexible and convenient.It will not restrict human activity and more suitable for indoor environment.However,cane robot still exist the problems that the supporting stick and the moving platform of the robot were integrated and the stick was throughout perpendicular with floor.There is no effective support comparing with that of a general cane.In order to develop a cane robot to be compliant with the motion habits of an elderly people during his walking assisted by a general cane,this paper has done the following research.First,An omni directional controllable joint has be designed to ensure the supporting stick on the platform and cane has same movement.Second,the motion state of an ordinary cane was analysed,and the relationship of the human-cane interaction force was analysed,and the dynamic models of the cane were founded.Third,a new admittance motion control scheme is proposed for the cane robot,in order to ensure the interaction force between the robot and the human meet our requirements.At last,an experimental setup was constructed and validity of the proposed dynamic models was verified. |
PDF Full Text Request