Data collection and assisting force analysis of sit-to-stand transfer assisting robot

作者：Tian Guohui^*; Li Xiaolei; Zhou Qian

来源：Journal of Huazhong University of Science and Technology (Natural Science Edition), 2008, 36(SUPPL. 1): 220-223.

• Biomechanical analysis
• Data collection
• Human motion tracking
• Monocular vision tracking
• Sit-to-stand transfer assisting robot

The data collection and assisting strategy of sit-to-stand transfer assisting robot are studied. A modified method about automatic measurement of sit-to-stand movement with no marking is proposed, in which the sensors and markings installed on user';s body are replaced by a single monocular camera. The joint point position and angle varieties of human body can be obtained as input data for the calculation of joint torque. And the assisting force analysis in the strategy of lightening the joint burden is improved reasonably. Considering of the characteristics of knee torque,a fuzzy system is set up. With the inclination of thigh from level direction in the sit-to-stand movement for input, the weights of two kinds of assistive strategies in the whole rising process for the outputs, this fuzzy system is used for helping customer lighten joint burden and keep body stability in the whole sit-to-stand process.

• 出版日期2008