Analysis of recovery motion of human to prevent fall in response to abnormality with a physical assistant robot

摘要

A physical assistant robot is useful for elderly and disabled people, as well as workers in certain industries, as it enhances their locomotive capabilities. However, risk assessment has identified some unique risks such as wounding of the skin and fall because of the use of such physical assistant robots. Among these potential risks, falls can be particularly severe. This study focuses on the effect of a sudden interference to the motion of the wearer while using a physical assistant robot. Changes in the gait motion are measured by an experiment that considers the unexpected torques experienced by a healthy wearer. The results indicate that the wearer can effectively recover despite changes in the joint angles and centers of pressure that can be used to analyze the risk of fall with a physical assistant robot.