Assistance Robot Vertical Holding Section Trajectory Correction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing assistant robots fail to perform standing actions in a stable and customizable manner according to the seating posture and physical characteristics of individuals in need of assistance.
Innovation Solution
The assistant robot features a movable holding section with a vertical and tilting actuator system, allowing the starting location for standing to be freely determined based on the user's seating height and physical characteristics, with adjustable elbow rest pads and handles for improved operability and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the holding section location is fixed at a predetermined position, then the device structure is simple, but it cannot accommodate different seating heights and physical characteristics of users
Solution Approach 1:
The holding section is made movable along the vertical direction through a vertical movement actuator, allowing its position to be dynamically adjusted according to different users' seating heights and physical characteristics. This dynamic positioning capability enables the device to adapt to various users without requiring multiple fixed configurations.
Solution Approach 2:
The vertical position parameter of the holding section is made variable through actuator control. By changing the vertical position parameter, the system can accommodate different seating heights and user characteristics, transforming a fixed-parameter system into a variable-parameter system that adapts to different conditions.
2Ease of operation
If the holding section location is adjustable to arbitrary positions, then adaptability to different users is improved, but the device structure and control system become more complex
Solution Approach 1:
The system incorporates operation sections that allow users or assistants to directly control the vertical movement of the holding section. This self-service control mechanism enables users to independently adjust the holding section position according to their needs, reducing the complexity of automated control systems while improving ease of operation.
3Reliability
If the action trajectory is corrected according to holding section position, then standing action stability is improved, but the control system complexity increases
Solution Approach 1:
The control system uses feedback from the holding section's vertical position to automatically correct the action trajectory. By monitoring the actual position and comparing it with the standard trajectory, the system makes real-time adjustments to ensure stable standing actions, implementing a closed-loop control mechanism that enhances reliability.
Solution Approach 2:
The system pre-stores standard action trajectories for transferring from seating to standing posture. Before execution, these trajectories are corrected based on the holding section's actual vertical position, ensuring that the predetermined trajectory adapts to the current configuration, thereby maintaining stability without requiring complex real-time calculations.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
Provide is an assistant robot capable of performing standing actions in accordance with the seating posture of persons in need of assistance and the physical characteristics of persons in need of assistance. An assistant robot 10 includes a base table 21, a vertical movement operation section 15c which enables a person in need of assistance M1 or an assistant to operate changes of the vertical-direction location of the holding section 13, a first control section 17a which controls the actuator 45 in accordance with an operation in the vertical movement operation section 15c and moves the holding section 13 in a vertical manner, a memory section 16 which stores in advance action trajectories of the actuators 45, 32a1, and 32b1 which are intended to transfer the holding section 13 from a standard seating posture to a standard standing posture, a correction section 17b which corrects the action trajectories of the actuators 45, 32a1, and 32b1 on the basis of the vertical-direction location of the holding section 13 moved using the first control section 17a and the vertical-direction location of the standard seating posture, and a second control section 17c which controls the actuators 45, 32a1, and 32b1 on the basis of the corrected action trajectories and transfers the holding section 13 to a predetermined standing posture.