A Rehabilitation Walker with a Standing Assistance Device

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Anthropomorphic “Motion Design” on Non-Holonomic Vehicle for Intuitive Interface

In the case of operating a vehicle, if the interface extracts human intention correctly and naturally, and if the vehicle moves like a human, then the human feels this operation to be intuitive. For realizing intuitive operation, this paper proposes motion design which makes vehicle motion anthropomorphic. The strategy of this motion design is: for making anthropomorphic motion, a certain normative motion for the vehicle is needed. Thus, we measure several subjects' motion in order to create normative motion. But these motions are different due to individual characteristics, because human motions are described in the time domain. Therefore, the human motion in the time domain is plotted to the phase plane. In the phase plane each subjects' motion was almost the same ellipse and then we fitted these ellipses to one ellipse by the least square method. Thus, we adopt this fitted ellipse as normative motion and call it “standard human motion”. The standard human motion is implemented on the actual non-holonomic vehicle and evaluated by the Semantic Differential (SD) method. From the results, we discovered that our motion design can create anthropomorphic vehicle motion

Standing assistance system for rehabilitation walker

International audienceThis paper proposes a walker system with power assistance device for standing up motion. Our system focuses on domestic uses for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is new assistance mechanism with four parallel linkages. Our proposed manipulator mechanism requires only smaller actuators and realizes rigid structure with lighter linkages comparing with general manipulator. Thus, we can design our assistance system compactly with low-cost using our mechanism. The second topic is the combination of force and position control. According to the patient's posture during standing up, our control system selects more appropriate control method from them. We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance. The performance of our proposed assistance system is verified by computer simulations and experiments using our prototype

Temperature Compensation Method of Fluxgate Sensor Based on Polynomial Fitting

Fluxgate sensors are widely used in the field of low frequency and weak vector magnetic field measurement because of their good performance, such as high resolution and low power consumption. However, during the long-term continuous observation, the drift errors of the fluxgate sensor will occur due to the variable ambient temperature. This paper proposes a temperature compensation method for fluxgate sensors based on polynomial fitting. First, a physical model of the temperature & fluxgate sensor was established on the COMSOL Multiphysics simulation platform, and the influence of temperature on the measurement performance of the fluxgate sensor was analyzed. Second, according to the existing temperature-magnetic field data, a temperature compensation model of the fluxgate sensor was constructed. And compared it with other temperature compensation method, the result shows that the proposed temperature compensation method is relatively simple and can better achieve real-time compensation for sensor application scenarios. Finally, to verify the effectiveness of the proposed method, numerous laboratory experiments were implemented. The temperature drift is reduced from more than 500 nT before compensation to about 1 nT. The results show that the proposed method has a good temperature compensation effect on the data measured by the fluxgate sensor within a variable temperature background.Comment: An error occurred in the model sectio