Gear Ratio Optimization of a Multifunctional Walker Robot Using Dual-Motor Actuation
John Bell,Emily Kamienski,Seiichi Teshigawara,Hirofumi Itagaki,H. Harry Asada,John Bell,Emily Kamienski,Seiichi Teshigawara,Hirofumi Itagaki,H. Harry Asada
Optimization of gear ratios for dual-motor actuators is presented for the development of a walker-type assist robot. The robot is reconfigurable to provide an elderly user with multiple physical support functions; one is to assist sitto-stand transitions and the other is to serve as a walker to aid the user in walking. To avoid falling while walking, the robot must react quickly and reconfigure it...
