RT Conference Proceedings
T1 Improving standing balance performance through the assistance of a mobile collaborative robot
A1 Ruiz-Ruiz, Francisco J.
A1 Gianmarino, Alberto
A1 Lorenzini, Marta
A1 Gandarias, Juan Manuel
A1 Gómez-de-Gabriel, Jesús Manuel
A1 Ajoudani, Arash
K1 Robótica asistencial
K1 Sistemas hombre-máquina
K1 Ancianos dependientes-Efectos de la Automatización
K1 Autómatas
K1 Equilibrio
AB This paper presents the design and development of a robotic system to give physical assistance to the elderly orpeople with neurological disorders such as Ataxia or Parkinson’s. In particular, we propose using a mobile collaborative robot with an interaction-assistive whole-body interface to help people unable to maintain balance. The robotic system consistsof an Omni-directional mobile base, a high-payload robotic arm, and an admittance-type interface acting as a supporthandle while measuring human-sourced interaction forces. The postural balance of the human body is estimated through theprojection of the body Center of Mass (CoM) to the support polygon (SP) representing the quasi-static Center of Pressure(CoP). In response to the interaction forces and the tracking of the human posture, the robot can create assistive forces torestore balance in case of its loss. Otherwise, during normal stance or walking, it will follow the user with minimum/noopposing forces through the generation of coupled arm and base movements. As the balance-restoring strategy, we proposetwo strategies and evaluate them in a laboratory setting on healthy human participants. Quantitative and qualitative resultsof a 12-subjects experiment are then illustrated and discussed, comparing the performances of the two strategies and theoverall system.
PB IEEE
YR 2022
FD 2022-05
LK https://hdl.handle.net/10630/24464
UL https://hdl.handle.net/10630/24464
LA spa
NO F.J. Ruiz-Ruiz, A. Giammarino, M. Lorenzini, J.M. Gandarias, J.M. Gomez-de-Gabriel and A. Ajoudani. (2022, May). Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot. In 2022 IEEE International Conference on Robotics and Automation (ICRA). IEEE.
NO Proyecto UMA20-FEDERJA-052 y Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026