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English:Study on a Practical Robotic Follower to Support Daily Life -Part5: Improvement of rhomboid layout four-wheel vehicle with considering the usability- 
Japanese: 鵜飼伸雄, 遠藤玄, 福島E.文彦, 広瀬茂男, 入部正継, 田窪敏夫.  
English: Nobuo UKAI, Gen ENDO, Edwardo F. Fukushima, Shigeo HIROSE, Masatsugu IRIBE, Toshio TAKUBO.  
Language Japanese 
Journal/Book name
Japanese:日本機械学会ロボティクス・メカトロニクス 講演会2012 講演論文集 
English:2012 JSME Conference on Robotics and Mechatronics 
Volume, Number, Page         2A2-V09
Published date May 2012 
Conference name
Japanese:日本機械学会ロボティクス・メカトロニクス講演会 2012 
English:Proceedings of the 2012 JSME Conference on Robotics and Mechatronics 
Conference site
English:Hamamatsu, Shizuoka 
Official URL http://www.jsme.or.jp/rmd/robomec2012/
Abstract 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.

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