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: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    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.

    Original languageEnglish
    Title of host publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
    Pages910-913
    Number of pages4
    DOIs
    Publication statusPublished - 2013
    Event2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka
    Duration: 2013 Jul 32013 Jul 7

    Other

    Other2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
    CityOsaka
    Period13/7/313/7/7

    Fingerprint

    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

    Tan, R., Wang, S., Jiang, Y., Ishida, K., & Fujie, M. G. (2013). Path tracking control of an omni-directional walker considering pressures from a user. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp. 910-913). [6609649] https://doi.org/10.1109/EMBC.2013.6609649

    Path tracking control of an omni-directional walker considering pressures from a user. / Tan, Renpeng; Wang, Shuoyu; Jiang, Yinlai; Ishida, Kenji; Fujie, Masakatsu G.

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2013. p. 910-913 6609649.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Tan, R, Wang, S, Jiang, Y, Ishida, K & Fujie, MG 2013, Path tracking control of an omni-directional walker considering pressures from a user. in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6609649, pp. 910-913, 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013, Osaka, 13/7/3. https://doi.org/10.1109/EMBC.2013.6609649
    Tan R, Wang S, Jiang Y, Ishida K, Fujie MG. Path tracking control of an omni-directional walker considering pressures from a user. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2013. p. 910-913. 6609649 https://doi.org/10.1109/EMBC.2013.6609649
    Tan, Renpeng ; Wang, Shuoyu ; Jiang, Yinlai ; Ishida, Kenji ; Fujie, Masakatsu G. / Path tracking control of an omni-directional walker considering pressures from a user. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2013. pp. 910-913
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