Evaluation and Fault Classification for Service Robot during Sit- to-Stand Movement through Center of Mass
Many service robots have been developed to assist patients with sit-to-stand movement (STS). However, little research has focused on users' negative psychological changes during the STS movement when assisted by a robot. The STS movement accompanied with a negative psychological change is defin...
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2017-12-20.
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| LEADER | 02178 am a22002173u 4500 | ||
|---|---|---|---|
| 001 | intechopen_books_5809 | ||
| 042 | |a dc | ||
| 100 | 1 | 0 | |a Wang, Tianyi |e author |
| 700 | 1 | 0 | |a Jeong, Hieyong |e author |
| 700 | 1 | 0 | |a Ohno, Yuko |e author |
| 245 | 0 | 0 | |a Evaluation and Fault Classification for Service Robot during Sit- to-Stand Movement through Center of Mass |
| 260 | |b IntechOpen, |c 2017-12-20. | ||
| 500 | |a https://mts.intechopen.com/articles/show/title/evaluation-and-fault-classification-for-service-robot-during-sit-to-stand-movement-through-center-of | ||
| 520 | |a Many service robots have been developed to assist patients with sit-to-stand movement (STS). However, little research has focused on users' negative psychological changes during the STS movement when assisted by a robot. The STS movement accompanied with a negative psychological change is defined as a fault. The main purpose of this study was to propose a method of conveying faults to a service robot through the center of mass (CoM). Experiments on the STS movement were executed five times with 10 healthy subjects under four conditions: two self-performed STSs with seat heights of 43 and 62 cm, and two robot-assisted STSs with a seat height of 43 cm and end-effector speeds of 2 and 5 s. Time series data on the CoM were measured with high-speed camera system. A classifier was designed according to the data on the CoM in the frequency domain. The results showed that the proposed classifier had a high probability of discriminating fault classes from others. Then, the vertical ground reaction force (vGRF) under the same experimental conditions was used to cross-check the experimental results. It was concluded that faults in the assistance of service robots can be detected from the CoP-related items. | ||
| 540 | |a https://creativecommons.org/licenses/by/3.0/ | ||
| 546 | |a en | ||
| 690 | |a Service Robots | ||
| 655 | 7 | |a Chapter, Part Of Book |2 local | |
| 786 | 0 | |n https://www.intechopen.com/books/5809 | |
| 787 | 0 | |n ISBN:978-953-51-3722-1 | |
| 856 | \ | \ | |u https://mts.intechopen.com/articles/show/title/evaluation-and-fault-classification-for-service-robot-during-sit-to-stand-movement-through-center-of |z Get Online |