SUPERLIMB ROBOTIC CANE
The soft supernumerary robotic limb system includes a pneumatically-driven robotic cane, an inflatable soft vest, and a privacy-safe depth camera for sit-to-stand assistance at home, including bed, chair, and toilet.
Overview of the proposed soft superlimb system
The modified biomechanical model of sit-to-stand movement (a) and the free-body diagrams of HAT (d), thigh (e), shank (f), and foot (g) segments. The conceptual design with the cane is shown on the left (b) while the classical sit-so-stand model on the right (c).
Proposed control algorithm for the system.
Experiment setup
Experiment setup: (a) for the experimental group assisted by the robotic cane while (b) and (c) for the standard control group, the data from the depth camera and motion capture system, respectively.
A two-step setup and demonstration of the robotic cane system in the chair. Here, the operator uses her hand to actuate the robotic cane by pushing a button on the handle instead of using her hands for upper body support.
