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

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

doi:10.1109/FUZZY.2011.6007467

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

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	IEEE International Conference on Fuzzy Systems
Pages	2728-2731
Number of pages	4
DOIs	https://doi.org/10.1109/FUZZY.2011.6007467
Publication status	Published - 2011
Event	2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011 - Taipei Duration: 2011 Jun 27 → 2011 Jun 30

Other

Other	2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011
City	Taipei
Period	11/6/27 → 11/6/30

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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10.1109/FUZZY.2011.6007467

Cite this

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title = "Directional control of an omnidirectional walker for walking support with forearm pressures",

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.",

keywords = "directional intention identification, distance type fuzzy reasoning method, omnidirectional walker, walking support",

author = "Yinlai Jiang and Kenji Ishida and Shuoyu Wang and Takeshi Ando and Fujie, {Masakatsu G.}",

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doi = "10.1109/FUZZY.2011.6007467",

language = "English",

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booktitle = "IEEE International Conference on Fuzzy Systems",

note = "2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011 ; Conference date: 27-06-2011 Through 30-06-2011",

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AU - Jiang, Yinlai

AU - Ishida, Kenji

AU - Wang, Shuoyu

AU - Ando, Takeshi

AU - Fujie, Masakatsu G.

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - directional intention identification

KW - distance type fuzzy reasoning method

KW - omnidirectional walker

KW - walking support

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

Abstract

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Keywords

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