Motion control of omni-directional walker for walking support

Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masakatsu G. Fujie

doi:10.1109/ICCME.2011.5876817

Motion control of omni-directional walker for walking support

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

An omni-directional walker (ODW) has been developed which can support people with walking disabilities to perform indoor walking. During walking support, the walker can identify the user's directional intention according to the user's forearm pressures and support the user to go in the intended direction. In this paper, an adaptive control method is proposed to control the ODW's movement toward the direction in which the user intends to go. Simulation results show that the ODW can accurately follow the user's intention direction with the proposed control method.

Original language	English
Title of host publication	2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
Pages	633-636
Number of pages	4
DOIs	https://doi.org/10.1109/ICCME.2011.5876817
Publication status	Published - 2011
Event	2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011 - Harbin Duration: 2011 May 22 → 2011 May 25

Other

Other	2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
City	Harbin
Period	11/5/22 → 11/5/25

Keywords

Adaptive control
Directional intention identification
Omni-directional walker
Walking support

ASJC Scopus subject areas

Biomedical Engineering

Access to Document

10.1109/ICCME.2011.5876817

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Cite this

Tan, R., Wang, S., Jiang, Y., Ishida, K., & Fujie, M. G. (2011). Motion control of omni-directional walker for walking support. In 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011 (pp. 633-636). [5876817] https://doi.org/10.1109/ICCME.2011.5876817

Tan, R, Wang, S, Jiang, Y, Ishida, K & Fujie, MG 2011, Motion control of omni-directional walker for walking support. in 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011., 5876817, pp. 633-636, 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011, Harbin, 11/5/22. https://doi.org/10.1109/ICCME.2011.5876817

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abstract = "An omni-directional walker (ODW) has been developed which can support people with walking disabilities to perform indoor walking. During walking support, the walker can identify the user's directional intention according to the user's forearm pressures and support the user to go in the intended direction. In this paper, an adaptive control method is proposed to control the ODW's movement toward the direction in which the user intends to go. Simulation results show that the ODW can accurately follow the user's intention direction with the proposed control method.",

keywords = "Adaptive control, Directional intention identification, Omni-directional walker, Walking support",

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

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