Vibration Analysis of Transporting Elderly Posture Behavior of Elderly-Assistant and Walking-Assistant Robot Considering Elderly Falling Angle

摘要

The modeling and simulation of transporting elderly posture of a new multifunctional elderly-assistant and walking-assistant robot (EWR) considering the elderly falling angle are investigated in this paper, which introduced by the authors lab to assist the elderly for doing the daily activities Satisfactorily. The elder was modeled as a double inverted pendulum one is the elder head and second is the elder body. The elder muscles are represented by a rotational spring and rotational damper which used to connect the double inverted pendulum. Mass-Spring-Damper system was used for robot modeling. MATLAB simulation is used to analyze the vibration characteristics when an outside disturbance is applied as input for the wholly system. Simulation results prove the stability of the elderly-robot system and show the ability of robot to prevent the elderly from falling.