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 | |
| 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 |
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ASJC Scopus subject areas
- Computer Vision and Pattern Recognition
- Signal Processing
- Biomedical Engineering
- Health Informatics
Cite this
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
}
TY - GEN
T1 - Control of an omnidirectional walking support walker by forearm pressures
AU - Jiang, Yinlai
AU - Wang, Shuoyu
AU - Ishida, Kenji
AU - Ando, Takeshi
AU - Fujie, Masakatsu G.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84055213695&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84055213695&partnerID=8YFLogxK
U2 - 10.1109/IEMBS.2011.6091842
DO - 10.1109/IEMBS.2011.6091842
M3 - Conference contribution
SN - 9781424441211
SP - 7466
EP - 7469
BT - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ER -