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Design of a Rise Support to be integrated in the HOBBIT Robot

Cedeño Pesliakas, Gerardo José LU (2014) TNS820 20141
Certec - 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)
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author
Cedeño Pesliakas, Gerardo José LU
supervisor
organization
course
TNS820 20141
year
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},
  keyword      = {Sit-to-Stand,HOBBIT,robot,balance,fall risk,OpenSim,supports.},
  language     = {eng},
  note         = {Student Paper},
  title        = {Design of a Rise Support to be integrated in the HOBBIT Robot},
  year         = {2014},
}