Toilet Assistive System Designed for the Reduction of Accidental Falls in the Bathroom Using Admittance Controller

摘要

This paper suggests an assistive system for the toilet with the objective of measuring human activities and to provide intelligent mechanical assistance to help seating and standing. The project intends to develop a seating assistance as a technical aid in order to reduce accidents and falls in the bathroom. The preferred technique is human-robot physical interaction algorithms known in collaborative robotics (cobot) and adapting it to a personalized assistance technology installed on a smart toilet. First, the design of the mechanical assistance is presented. Then, an admittance controller is designed and implemented in order to help the user in a similar way as a cobot could be used. This technique could be used to assist the user and improve balance with adequate training and an adequate configuration of the admittance controller.