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3. Development of a Practical Robotic Follower to Support Home Oxygen Therapy Patients - Empirical Evaluation in Public Space

Author

Endo, Gen, BEN, ALLAN, Allan, Ben, Iribe, Masatsugu, and Takubo, Toshio

Subjects
Engineering, Robot kinematics, Medical treatment, business.industry, Interface (computing), Home oxygen therapy, 010401 analytical chemistry, Linkage (mechanical), 01 natural sciences, 0104 chemical sciences, law.invention, Mechanism (engineering), 03 medical and health sciences, Public space, 0302 clinical medicine, 030228 respiratory system, law, Robot, business, human activities, Simulation
Abstract

Home Oxygen Therapy is a medical treatment for patients suffering from severe lung diseases. High purity oxygen is usually supplied to the nose via cannula (air tube), and it can give patients a high quality of life outside of hospital. However, whenever patients go out they must carry portable oxygen equipment which typically weighs about 4kg. In order to support H.O.T. patients, we have proposed a mobile following robot to carry the heavy oxygen equipment, consisting of two active differential drive wheels and two passive wheels connected by two parallel linkage mechanisms so as to form a rocker-bogie mechanism to negotiate a step or bump sideways. A tether interface is introduced to achieve robust measurement of the relative position of the user with respect to the robot. In this paper, we evaluate the size of the robot taken on public transportation. Moreover, an initial evaluation of the robot by Home Oxygen Therapy patient on a public road is reported, suggesting effectiveness in reducing the physical burden of the patient.

Published
2017

5. Robot Development in Cooperation with Patients: Application of Hyper-Tether to Support Home Oxygen Therapy Patients

Author

BEN, ALLAN, Allan, Ben, Endo, Gen, Iemura, Yu, 福島, E. 文彦, FUKUSHIMA, EDWARDO FUMIHIKO, Iribe, Masatsugu, Takubo, Toshio, and OHIRA, Mineko

Subjects
Focus (computing), Oxygen tank, Iterative design, Medical treatment, Computer science, Home oxygen therapy, technology, industry, and agriculture, Robot, Mobile robot, Simulation, Robot control
Abstract

Hyper-Tether is a highly functional system which uses tethers to connect a wide range of robots, vehicles and humans. Home Oxygen Therapy (H.O.T.) is a medical treatment for severe lung diseases in which the patients are supplied concentrated oxygen through a cannula. The need to carry a portable oxygen supply device limits the quality of life of the patients, and so we have designed a robot follower using Hyper-Tether. The robot, which can carry an oxygen tank and follow behind the patient, was tested by H.O.T. users and evaluated using questionnaires. This paper describes the development and testing of the robot follower, with particular focus on iterative design based on patients' feedback.

Published
2013

32. Study on a Practical Robotic Follower to Support Daily Life -Part5: Improvement of rhomboid layout four-wheel vehicle with considering the usability

Author

Ukai, Nobuo, Endo, Gen, 福島, E. 文彦, FUKUSHIMA, EDWARDO FUMIHIKO, HIROSE, SHIGEO, Iribe, Masatsugu, and Takubo, Toshio

Subjects
ロボット，ロボティックフォロワ，日常生活支援，在宅酸素療法, Robot, Robotic Follower, Support Daily Life, Home Oxygen Therapy (HOT)
Abstract

高齢者や在宅酸素療法患者の外出支援を目的として，先導する人にテザー型イン ターフェースを用いて追従する小型搬送移動体を提案して来た．本報では想定 ユーザのユースケースや使いやすさに着目し車両の改良を行う．, Home oxygen therapy(HOT) is a medical treatment for patients suffering from severe lung deseases. Although walking outdoors is recommended for patients to maintain physical strength, patients always have to carry a portable oxygen supplier which is not sufficiently light weight for this purpose. Our ultimate goal is to develope a mobile robot to carry an oxygen tank and follow a patient in an urban outdoor environment. We have proposed a mobile robot with mechanisms with considering the usability. The leader following control algorithm is also improved and its effectiveness is demonstrated in an outodoor and indoor experiment.

Published
2012

34. Study on a Practical Robotic Follower to Support Home Oxygen Therapy Patients -Development and Control of a Mobile Platform

Author

Tani, Atsushi, Endo, Gen, 福島, E. 文彦, FUKUSHIMA, EDWARDO FUMIHIKO, HIROSE, SHIGEO, Iribe, Masatsugu, and Takubo, Toshio

Subjects
Engineering, Oxygen tank, Medical treatment, business.industry, Interface (computing), Home oxygen therapy, Control (management), technology, industry, and agriculture, Step height, Mobile robot, business, Walking outdoors, Simulation
Abstract

Home oxygen therapy (HOT) is a medical treatment for patients suffering from severe lung diseases. Although walking outdoors is recommended for patients to maintain physical strength, patients always have to carry a portable oxygen supplier which is not sufficiently light weight for this purpose. Our ultimate goal is to develop a mobile robot to carry an oxygen tank and follow a patient in an urban outdoor environment. We have proposed a mobile robot with a tether interface to detect the relative position of the foregoing patient. In this paper, we improve mobile platform mechanisms and active wheels to maximize the step height which can be negotiated, and to allocate sufficient space in the main body to carry an actual oxygen tank. The following control algorithm is also improved and its effectiveness is demonstrated in an outdoor experiment.

Published
2011

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