Directional control of an omnidirectional walking support walker: Adaptation to individual differences with fuzzy learning

Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi, Masakatsu G. Fujie

Research output: Contribution to journalArticle

13 Citations (Scopus)


We are developing a method to recognize a users directional intention to control an omnidirectional walker (ODW) according to the force interaction between the ODW and the user. Since the characteristics in the force interaction are different among persons especially for those with walking difficulty, a fuzzy learning method is developed in this study to adapt to the individual difference in forearm pressures in order to improve the usability of the method. The experiment results show that fuzzy learning can significantly improve the accuracy of recognition by updating the fuzzy rules according to the characteristics in the force interaction.

Original languageEnglish
Pages (from-to)479-485
Number of pages7
JournalAdvanced Robotics
Issue number7
Publication statusPublished - 2014 Apr 3



  • directional control
  • forearm pressure
  • fuzzy learning
  • human robot interface
  • omnidirectional walker

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Hardware and Architecture
  • Software

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