Author:
Endo Gen,Allan Ben,Iemura Yu,Fukushima Edwardo F,Iribe Masatsugu,Takubo Toshio,Ohira Mineko
Abstract
Abstract
Home Oxygen Therapy (H.O.T.) is a medical treatment for severe lung diseases in which the patients are supplied concentrated oxygen. This paper investigates the use of a follower robot as a support device for H.O.T. patients, consisting of a two-wheeled differential drive robot connected to the user by tether. Two different control algorithms were studied using dynamic simulation and motion capture experiments with healthy subjects. In further experiments with H.O.T. patients, including a questionnaire survey, it was confirmed that Follow the Leader control was capable of following the user’s trajectory more accurately than Pseudo-Joystick control, and that overall H.O.T. patients showed a preference for Follow the Leader control.
Publisher
Springer Science and Business Media LLC
Subject
Artificial Intelligence,Control and Optimization,Mechanical Engineering,Instrumentation,Modeling and Simulation
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