Adaptive control of an omni-directional walker considering the forces caused by user

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Masakatsu G. Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    An omni-directional walker (ODW) has been developed to support people with walking impairment to do walking training without the presence of a physical therapist. In order to get a good training effect, the ODW needs to precisely follow the training path which is defined by a physical therapist. However, the forces caused by user make the ODW deviate from the training path. In previous studies, an adaptive controller was developed to deal with the pressure leading to the load change and center of gravity shift of the ODW. However, the forces from used consist of both vertical pressure and horizontal thrust. In this paper, an improved model is proposed considering both the pressure and the thrust. Furthermore, an adaptive controller is designed based on the model to improve the path tracking accuracy. The simulation is carried out and the results demonstrate that the proposed method is effectiveness to control the ODW following the training path accurately.

    Original languageEnglish
    Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
    Pages761-766
    Number of pages6
    DOIs
    Publication statusPublished - 2013
    Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu
    Duration: 2013 Aug 42013 Aug 7

    Other

    Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
    CityTakamastu
    Period13/8/413/8/7

    Keywords

    • Adaptive control
    • Omni-directional walker
    • Pressure and thrust
    • Walker

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Mechanical Engineering

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  • Cite this

    Tan, R., Wang, S., Jiang, Y., Ishida, K., & Fujie, M. G. (2013). Adaptive control of an omni-directional walker considering the forces caused by user. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 761-766). [6618012] https://doi.org/10.1109/ICMA.2013.6618012