Speed control of an omnidirectional walker by forearm pressures [considering features in force exertion with forearms]

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

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

Abstract

An omnidirectional walker (ODW) is being developed to support those who have walking difficulties with their indoor movement. In order to enable the user to control the ODW intuitively and safely a novel human robot interface has been proposed in previous studies to recognize a user's control intentions, including direction, speed, and rotation, according to his/her forearm pressures. Since the features in the pressures exerted by the wrists and elbows are different due to human factors, such as handedness, height and body weight, it is necessary to recognize the control intentions with consideration of these features in order to improve the operability. The features of force exertion with forearms was therefore investigated in a measurement exper-iment, and was introduced into the calculation of the speed intention by changing the ratio of speed to force according to the direction. A control experiment demonstrated that the consideration of the features resulted in a smoother path and a less burden to the forearms.

Original languageEnglish
Title of host publicationBODYNETS 2013 - 8th International Conference on Body Area Networks
PublisherICST
Pages307-312
Number of pages6
ISBN (Print)9781936968893
DOIs
Publication statusPublished - 2013 Oct 29
Event8th International Conference on Body Area Networks, BODYNETS 2013 - Boston, United States
Duration: 2013 Sep 30 → 2013 Oct 2

Other

Other8th International Conference on Body Area Networks, BODYNETS 2013
CountryUnited States
CityBoston
Period13/9/30 → 13/10/2

Keywords

  • Control intention
  • Forearm pressure
  • Human-robot interface
  • Omnidirectional walker

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Networks and Communications
  • Artificial Intelligence

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    Jiang, Y., Wang, S., Tan, R., Ishida, K., Kobayashi, Y., & Fujie, M. G. (2013). Speed control of an omnidirectional walker by forearm pressures [considering features in force exertion with forearms]. In BODYNETS 2013 - 8th International Conference on Body Area Networks (pp. 307-312). ICST. https://doi.org/10.4108/icst.bodynets.2013.253665