A Standing-up Assist Control Method Considering Movement Speed

摘要

With the rapid aging population, the need for standing-up assist device has grown because standing-up movement is essential for independent living. The standing-up assist controller needs to accomplish high trajectory-following without high rigidity. Therefore, "compliant force coordinate transformation control (CFCT)" is applied to the controller. This control method induces user to model trajectory effortlessly. Moreover, this paper proposes the algorithm which considers the differences of standing-up movement speed. The proposed algorithm enables the assist device to support the user regardless of the difference of movement speed. The controller is evaluated through experiments.