Abstract

We are developing a Nursing-Care Robot in order to reduce the load in physical nursing care. The concept of this robot is to promote the cared persons by the robot to activate their own motion ability as long as possible. This may lead to the improvement of the cared person's movement volition and movement abilities. In order to realize safe and human friendly robot care tasks, full body manipulation is an important technology, for which it is necessary to estimate the subject's center of gravity from the contact positions and forces with the robot's two arms. In this paper, we estimate the center of gravity of object based on the contact point and the contact force estimated by force sensor on both robot arms. The position of gravity center is important to realize care tasks stably. We performed experiments and simulations for the single point contact and dual points contact cases using a cylindrical object. As a result, it is found that although some errors were recognized in the experiments compared with the simulations, the relations between the contact positions and such errors were observed. Such experimental error mainly comes from the difference of shape between the real robot and the model of the robot in simulation. As the future work, we have to improve the robot model so as to get better estimated information.

Highlights

  • Increase of age population becomes a serious problem in human societies

  • Nursing care robots have been widely studied in recent years [1,2,3,4,5]

  • The appearance of its beneficial comes from both care supporters as well as cared persons

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Summary

Introduction

Increase of age population becomes a serious problem in human societies. Nagase [6] proposed a method of estimating a contact point between a robot hand and an object by using a force sensor with measurement noise He builds an objective function which represented the error and used the Lagrange multipliers to choose an optimal solution which makes error as small as possible. When we analysedd the situationn of the persoon to be lifted up, we can reggard his/her body b as a sim mple geometrical shape so thaat the robot can c completee the task at the reeal time In this stuudy, we use 6 axis force seensors to meaasure the force annd moment off the contacteed person.

Overvieew of Robot’s Structu ure
Estimation of o the Contacct Position When
Derivation of Analytiical Solution mization probblem
Estimation of the Conttact Position n and Forcee
Cooordinate Traansformation of the Conntact
Duaal Points
Results of
Sim mulation Resullt of Single Contact
Sim mulation Resullt of Dual Coontact Point
Results of the Experimentt
Duaal Contact Poiints
Conclusion
E Internationall
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