Posture Control of the Passenger Based on Caregiver's Wrist Motion for a Step-Climbing Stroller

This study proposes a novel mechanism that is manually actuated to control the position and posture of a passenger for preventing a stroller from tipping and falling accidents during climbing/descending a step. This mechanism is designed as a four-bar linkage using the rotational torque applied on t...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2022-04, Vol.7 (2), p.1-1
Main Authors: Masuda, Ririka, Sasaki, Kai, Hirokawa, Masakazu, Hachisu, Taku, Suzuki, Kenji
Format: Article
Language:English
Subjects:
Accident prevention
Control stability
Human centerd robotics
Indexes
Mechanism design
Mobile robots
Passengers
Physical humanrobot interaction
Posture
Shock absorbers
Stability criteria
Torque
Wheelchairs
Wrist
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Summary:This study proposes a novel mechanism that is manually actuated to control the position and posture of a passenger for preventing a stroller from tipping and falling accidents during climbing/descending a step. This mechanism is designed as a four-bar linkage using the rotational torque applied on the strollers handle by the users wrist motion during tilting to change the position and posture of the seat. Each link parameter is determined to perform sufficient posture transition during climbing/descending a step based on kinematic and dynamic analysis of the stroller with a user. By using the rotational motion of the users wrist relative to the stroller body as an input, the position and posture of the seat can be controlled to maintain the stability of the stroller. In this paper, we present a detailed design process of the mechanism using a simulation environment and the results of validation experiments with a prototype.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2022.3146600