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 proceedingConference 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 languageEnglish
    Title of host publication2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
    Pages633-636
    Number of pages4
    DOIs
    Publication statusPublished - 2011
    Event2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011 - Harbin
    Duration: 2011 May 222011 May 25

    Other

    Other2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
    CityHarbin
    Period11/5/2211/5/25

    Keywords

    • Adaptive control
    • Directional intention identification
    • Omni-directional walker
    • Walking support

    ASJC Scopus subject areas

    • Biomedical Engineering

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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