Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver

Kazuma Kobayashi; Kentaro Hirata; Yukinori Nakamura; Kunihisa Okano

doi:10.1109/ICMECH.2019.8722927

Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver

Kazuma Kobayashi, Kentaro Hirata, Yukinori Nakamura, Kunihisa Okano

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper considers an optimal design problem of cooperative standing-up motion for the care worker and receiver. To overcome the disadvantage of the receding horizon control (model predictive control) strategy in the previous work in terms of the admissible horizon length and the extream sensitivity of the feasibility on the weights, we revisit the numerical methods to solve the nonlinear optimal control problem. Two algorithms, the differential dynamic programming and the sequential quadratic programming are used to solve the problem. Another technical point is the modeling of a composite motion consisting of two people. The issue on the dynamics of the closed-links system is investigated. The effectiveness of the proposed method is demonstrated by generating the motions corresponding to several scienarios.

Original language	English
Title of host publication	Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	67-72
Number of pages	6
ISBN (Electronic)	9781538669594
DOIs	https://doi.org/10.1109/ICMECH.2019.8722927
Publication status	Published - May 24 2019
Event	2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany Duration: Mar 18 2019 → Mar 20 2019

Publication series

Name	Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference	2019 IEEE International Conference on Mechatronics, ICM 2019
Country/Territory	Germany
City	Ilmenau
Period	3/18/19 → 3/20/19

Keywords

assistive technology
electronic healthcare
nonlinear control systems
optimal control

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Automotive Engineering
Mechanical Engineering
Control and Optimization
Industrial and Manufacturing Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICMECH.2019.8722927

Cite this

Kobayashi, K., Hirata, K., Nakamura, Y., & Okano, K. (2019). Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 67-72). [8722927] (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2019.8722927

Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver. / Kobayashi, Kazuma; Hirata, Kentaro ; Nakamura, Yukinori et al.

Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 67-72 8722927 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kobayashi, K, Hirata, K , Nakamura, Y & Okano, K 2019, Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver. in Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019., 8722927, Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019, Institute of Electrical and Electronics Engineers Inc., pp. 67-72, 2019 IEEE International Conference on Mechatronics, ICM 2019, Ilmenau, Germany, 3/18/19. https://doi.org/10.1109/ICMECH.2019.8722927

Kobayashi K, Hirata K , Nakamura Y, Okano K. Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 67-72. 8722927. (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). doi: 10.1109/ICMECH.2019.8722927

Kobayashi, Kazuma ; Hirata, Kentaro ; Nakamura, Yukinori et al. / Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver. Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 67-72 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019).

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abstract = "This paper considers an optimal design problem of cooperative standing-up motion for the care worker and receiver. To overcome the disadvantage of the receding horizon control (model predictive control) strategy in the previous work in terms of the admissible horizon length and the extream sensitivity of the feasibility on the weights, we revisit the numerical methods to solve the nonlinear optimal control problem. Two algorithms, the differential dynamic programming and the sequential quadratic programming are used to solve the problem. Another technical point is the modeling of a composite motion consisting of two people. The issue on the dynamics of the closed-links system is investigated. The effectiveness of the proposed method is demonstrated by generating the motions corresponding to several scienarios.",

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Optimal Design of Cooperative Standing-Up Motion for Care Worker and Receiver

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

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