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 proceedingConference 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 languageEnglish
    Title of host publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
    Pages7466-7469
    Number of pages4
    DOIs
    Publication statusPublished - 2011
    Event33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA
    Duration: 2011 Aug 302011 Sep 3

    Other

    Other33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
    CityBoston, MA
    Period11/8/3011/9/3

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition
    • Signal Processing
    • Biomedical Engineering
    • Health Informatics

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  • Cite this

    Jiang, Y., Wang, S., Ishida, K., Ando, T., & Fujie, M. G. (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 (pp. 7466-7469). [6091842] https://doi.org/10.1109/IEMBS.2011.6091842