Experimental Study on Control Method of a Power-Assisting Device for Independent Transfer

摘要

A power-assisting device is being developed to help elderly patients and patients with disabilities in transferring themselves from beds to wheelchairs. The device is intended to contribute to a more independent life for the patients and to greater utilization of their latent abilities. First, assistance for self-support using the power-assisting device and capability of the device to assist self-transfer of the user are discussed. A control method for the production of power assistance and motion guidance by this device is then proposed. Experimental results illustrate that the proposed control method is capable of adjusting the functions of power assistance and motion guidance, and that the influence of the posture of the user on the realized assisting functions.