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

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

doi:10.1109/EMBC.2013.6609649

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 proceeding › Conference contribution

3 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 language	English
Title of host publication	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages	910-913
Number of pages	4
DOIs	https://doi.org/10.1109/EMBC.2013.6609649
Publication status	Published - 2013
Event	2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka Duration: 2013 Jul 3 → 2013 Jul 7

Other

Other	2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
City	Osaka
Period	13/7/3 → 13/7/7

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Signal Processing
Biomedical Engineering
Health Informatics

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10.1109/EMBC.2013.6609649

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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

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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.",

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AU - Ishida, Kenji

AU - Fujie, Masakatsu G.

PY - 2013

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

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