Abstract
Physical assistant robots improve the user’s ability to walk. However, they also potentially affect recovery motion following tripping. The assist algorithm should not interfere with the recovery motion, and should enhance the ability of the user to recover after tripping. Thus, in this study, we investigated the recovery motion affected by the assist robot after tripping. We compared the recovery motion with different reaction algorithms. Principal component analysis revealed the effects of the reaction algorithm. Correspondingly, principal components were related to the recovery motion during two steps following tripping. Specifically, the effects of the reaction algorithm were related to a principal component that represented the motion of the second step after tripping and that increased the margin of stability. Furthermore, the margin of stability became significantly large when the assistive torque was applied during the recovery motion. The result of this study suggests that the assist robot can potentially enhances the recovery motion of its user following tripping.
Highlights
Physical assistant robots are associated with a broad range of applications in various facets of daily lives compared to their initial uses for rehabilitation in hospitals [1, 2]
The fundamental problem associated with the introduction of the assist robot in daily living environments pertains to their abilities to become accustomed with the variety and flexibility of motion types [3]
When physical assistant robots are used in the daily living environment, it is likely that the wearer may trip and fall
Summary
Physical assistant robots are associated with a broad range of applications in various facets of daily lives compared to their initial uses for rehabilitation in hospitals [1, 2]. Assist robots are required to improve their configurations and algorithms to fit the new environments. The fundamental problem associated with the introduction of the assist robot in daily living environments pertains to their abilities to become accustomed with the variety and flexibility of motion types [3]. The expansion of the range of uses and types of environments concomitantly generates new types of risks for assist robots [4]. If a motion mismatch occurs between the assist robot and its user during the recovery motion to avoid the fall, the risk of falling will probably increase.
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