Design of a Rise Support to be integrated in the HOBBIT Robot
(2014) TNS820 20141Certec - Rehabilitation Engineering and Design
- Abstract
- The purpose of the thesis work is to analyze the possibility to integrate a sit-to-stand functionality into the HOBBIT service robot for elderly people while keeping the stability of the robot. A prototype with a knee support and a handle was used in combination with a motion capture system to capture joints angles and forces during the sit-to-stand movement. A skeletal model was created using the OpenSim software where data and a CAD model of the robot were imported and analyzed. Matlab was used to calculate the stability of the robot and optimize the positions of the knee support and handle. Finally, the prototype was tested with four elderly people. The forces necessary to rise up did not compromise the stability of the robot and the... (More)
- The purpose of the thesis work is to analyze the possibility to integrate a sit-to-stand functionality into the HOBBIT service robot for elderly people while keeping the stability of the robot. A prototype with a knee support and a handle was used in combination with a motion capture system to capture joints angles and forces during the sit-to-stand movement. A skeletal model was created using the OpenSim software where data and a CAD model of the robot were imported and analyzed. Matlab was used to calculate the stability of the robot and optimize the positions of the knee support and handle. Finally, the prototype was tested with four elderly people. The forces necessary to rise up did not compromise the stability of the robot and the users found the prototype useful, comfortable and necessary. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/4529879
- author
- Cedeño Pesliakas, Gerardo José LU
- supervisor
- organization
- course
- TNS820 20141
- year
- 2014
- type
- H2 - Master's Degree (Two Years)
- subject
- keywords
- Sit-to-Stand, HOBBIT, robot, balance, fall risk, OpenSim, supports.
- report number
- Certec report 6:2014
- language
- English
- id
- 4529879
- date added to LUP
- 2015-03-09 10:59:26
- date last changed
- 2015-03-09 10:59:26
@misc{4529879, abstract = {{The purpose of the thesis work is to analyze the possibility to integrate a sit-to-stand functionality into the HOBBIT service robot for elderly people while keeping the stability of the robot. A prototype with a knee support and a handle was used in combination with a motion capture system to capture joints angles and forces during the sit-to-stand movement. A skeletal model was created using the OpenSim software where data and a CAD model of the robot were imported and analyzed. Matlab was used to calculate the stability of the robot and optimize the positions of the knee support and handle. Finally, the prototype was tested with four elderly people. The forces necessary to rise up did not compromise the stability of the robot and the users found the prototype useful, comfortable and necessary.}}, author = {{Cedeño Pesliakas, Gerardo José}}, language = {{eng}}, note = {{Student Paper}}, title = {{Design of a Rise Support to be integrated in the HOBBIT Robot}}, year = {{2014}}, }