Control of an omnidirectional walking support walker by forearm pressures

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

doi:10.1109/IEMBS.2011.6091842

Control of an omnidirectional walking support walker by forearm pressures

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

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

Abstract

We have been developing an omnidirectional walker (ODW) for walking support. In walking support, it is necessary control the ODW following the user's direction and velocity intentions. In this paper, a novel interface is proposed to recognize the user's intentions according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by 4 force sensors embedded in the ODW's armrest. The relationship between forearm pressure and user intentions was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on the distance-type fuzzy reasoning method. We conduct a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW.

Original language	English
Title of host publication	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages	7466-7469
Number of pages	4
DOIs	https://doi.org/10.1109/IEMBS.2011.6091842
Publication status	Published - 2011
Event	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA Duration: 2011 Aug 30 → 2011 Sep 3

Other

Other	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
City	Boston, MA
Period	11/8/30 → 11/9/3

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Signal Processing
Biomedical Engineering
Health Informatics

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Control of an omnidirectional walking support walker by forearm pressures. / Jiang, Yinlai; Wang, Shuoyu; Ishida, Kenji; Ando, Takeshi; Fujie, Masakatsu G.

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2011. p. 7466-7469 6091842.

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

Jiang, Y, Wang, S, Ishida, K, Ando, T & Fujie, MG 2011, Control of an omnidirectional walking support walker by forearm pressures. in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6091842, pp. 7466-7469, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011, Boston, MA, 11/8/30. https://doi.org/10.1109/IEMBS.2011.6091842

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abstract = "We have been developing an omnidirectional walker (ODW) for walking support. In walking support, it is necessary control the ODW following the user's direction and velocity intentions. In this paper, a novel interface is proposed to recognize the user's intentions according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by 4 force sensors embedded in the ODW's armrest. The relationship between forearm pressure and user intentions was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on the distance-type fuzzy reasoning method. We conduct a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW.",

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