A novel direction control method for walking support with an omnidirectional walker

Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Takeshi Ando, Masakatsu G. Fujie

    Research output: Contribution to journalArticle

    6 Citations (Scopus)

    Abstract

    Safe and convenient walking support machines are strongly desired for the people suffering from walking disabilities. We have developed an omnidirectional walker (ODW) for walking support. In walking support, it is necessary to control the ODW following the user’s directional intention. In this paper, a novel interface is proposed to recognise the user’s directional intention according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by four force sensors embedded in the ODW’s armrest. The relationship between the forearm pressure and the directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW in walking support.

    Original languageEnglish
    Pages (from-to)244-252
    Number of pages9
    JournalInternational Journal of Mechatronics and Automation
    Volume1
    Issue number3-4
    DOIs
    Publication statusPublished - 2011

    Keywords

    • directional intention identification
    • distance-type fuzzy reasoning method
    • human robot interaction
    • ODW
    • omnidirectional walker
    • walking support

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering
    • Computational Mathematics
    • Computational Mechanics

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