Abstract
We proposed an unique intuitive movement system which is equipped Omni-wheels with load cells for care-robots. In this systems, pilot or subjects can cotrol ituitively with difference of centroid position with load cells. This systems is constructed a cylinder structure stacking a disk on a triangular frame and installed 3 load cells and Omni-wheels. These load cells sensed position and centroid is calculated by microcomputer. This sensed centroid position is applied for calculating direction and speed and these information transferred to servo systems installed Omni-wheels. The system was investigated with transient response characteristics and error distance of centroid of the system. Transient response measurement of the servo system were under no-load or 60 kg loaded condition respectively. We observer that the system were possible to move under 60 kg load. Moreover, we cleared suitable rotating speed. Via the measuring error distance of centroid under loads, The maximum error distance was possible to operate accurately under heavy load like 60 kg human. We expect this Omni-directional mobile systems with intuitive operation is possible to be expected, novel and unique as novel care-robots technology.
Highlights
In recent Japanese society, lack of human resource of nursing care is serious and important problem
Developing nursing care robots with simple interface and intuitive operation is required for the independence of a lot of care-receivers.(3)
This study proposed a novel and unique intuitive movement system which is installed Omni-wheels with load cells for care-robots
Summary
In recent Japanese society, lack of human resource of nursing care is serious and important problem. On the basis of such as social background, to care these care-receivers like elder or handicap persons, applied robotic technology for nursing care is expected.(2) in current society, such technology is not enough to be applied for real care-work scene. Because the operating these care-robots is too complicated to control and manage them. Sometimes carers have to learn and train long time to manipulate and control many parts and functions of robots It is difficult for carers worked at real care-work scene to feedback to robots providers. This study proposes Omni-directional mobile systems with intuitive operation which is sensed centroid of system by any loads to designate moving direction automatically. (6) our systems is proposed for developing to support independence of care-receivers and to reduce works of carers
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