Path tracking control of an omni-directional walker considering pressures from a user.

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

    Research output: Contribution to journalArticle

    Abstract

    An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.

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    Patient rehabilitation
    Rehabilitation
    Disabled Persons
    Pressure
    Walking
    Physical Therapists
    Controllers
    Experiments

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition
    • Signal Processing
    • Biomedical Engineering
    • Health Informatics

    Cite this

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    title = "Path tracking control of an omni-directional walker considering pressures from a user.",
    abstract = "An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.",
    author = "Renpeng Tan and Shuoyu Wang and Yinlai Jiang and Kenji Ishida and Fujie, {Masakatsu G.}",
    year = "2013",
    language = "English",
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    pages = "910--913",
    journal = "Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference",
    issn = "1557-170X",
    publisher = "Institute of Electrical and Electronics Engineers Inc.",

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    TY - JOUR

    T1 - Path tracking control of an omni-directional walker considering pressures from a user.

    AU - Tan, Renpeng

    AU - Wang, Shuoyu

    AU - Jiang, Yinlai

    AU - Ishida, Kenji

    AU - Fujie, Masakatsu G.

    PY - 2013

    Y1 - 2013

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    AB - An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.

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