Directional control of an omnidirectional walker for walking support with forearm pressures

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

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

    3 Citations (Scopus)

    Abstract

    Walking is a fundamental human ability necessary for everyday life. We have developed an omnidirectional walker (ODW) for walking support to those who have walking disabilities. It is necessary for the ODW to know which direction the user is intending to go during walking support. A novel interface is proposed for the ODW to recognize directional intention according to the user's forearm pressures which are measured by force sensors embedded in the armrest. The relationship between forearm pressures and directional intention was extracted as fuzzy rules and an algorithm is proposed for directional intention identification based on distance type fuzzy reasoning method. In this paper, we conduct walking support experiments with the proposed method. The results show that the algorithm is applicable to directional control in walking support.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Fuzzy Systems
    Pages2728-2731
    Number of pages4
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011 - Taipei
    Duration: 2011 Jun 272011 Jun 30

    Other

    Other2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011
    CityTaipei
    Period11/6/2711/6/30

    Keywords

    • directional intention identification
    • distance type fuzzy reasoning method
    • omnidirectional walker
    • walking support

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Applied Mathematics
    • Theoretical Computer Science

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  • Cite this

    Jiang, Y., Ishida, K., Wang, S., Ando, T., & Fujie, M. G. (2011). Directional control of an omnidirectional walker for walking support with forearm pressures. In IEEE International Conference on Fuzzy Systems (pp. 2728-2731). [6007467] https://doi.org/10.1109/FUZZY.2011.6007467