平成14年度看護研究交流センター研究部会の活動報告

othe

Adaptive Controller for Motion Control of Seat-Style Omnidirectional Mobile Walker

Although the importance of rehabilitation is recognized across the spectrum of health and social care, how to realize early recovery is still a challenging subject. This paper reports the development of control method for a seat-style omnidirectional mobile walker (SOMW) to aid early recovery of patients who have not regained the power to stand. Training paths prescribed by physical therapists can be stored in the SOMW so that the patient can follow these reference paths during rehabilitation. However, path tracking errors occur due to load change and center of gravity shift when the patient is sitting on the SOMW. To address this problem, an adaptive control method is proposed herein. First, the kinematics and the kinetics of the SOMW are derived. An adaptive control strategy is then presented and the stability of the system is verified. Finally, an experiment is carried out to compare the performance of the control method with and without a load. The experimental results demonstrate the feasibility and effectiveness of the proposed method.journal articl

The Order Restored: A Study of Tom Jones

departmental bulletin pape

From Opposition to Proportion : An essay on Howards End

departmental bulletin pape

On the Gini Coefficient from the Viewpoint of Generalized Functions

1KJ00006661139論文Articledepartmental bulletin pape

河川の大規模乱れ(第1報)

applicationdepartmental bulletin pape

研究・活動報告 論文・学会発表など

othe

Recapitulation of gametic DNA methylation and its post-fertilization maintenance with reassembled DNA elements at the mouse Igf2/H19 locus

journal articl

心臓血管外科周術期における臓器障害予防のための脳自動調整能モニタリングに基づいた至適循環管理についての検討

articl

Characteristics of Leakage Current on Polymeric Insulating Material Surfaces

5KJ00003583244論文Articledepartmental bulletin pape