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 language | English |
|---|---|
| Title of host publication | BODYNETS 2013 - 8th International Conference on Body Area Networks |
| Publisher | ICST |
| Pages | 307-312 |
| Number of pages | 6 |
| ISBN (Print) | 9781936968893 |
| DOIs | |
| Publication status | Published - 2013 Oct 29 |
| Event | 8th International Conference on Body Area Networks, BODYNETS 2013 - Boston, United States Duration: 2013 Sep 30 → 2013 Oct 2 |
Other
| Other | 8th International Conference on Body Area Networks, BODYNETS 2013 |
|---|---|
| Country | United States |
| City | Boston |
| Period | 13/9/30 → 13/10/2 |
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Keywords
- Control intention
- Forearm pressure
- Human-robot interface
- Omnidirectional walker
ASJC Scopus subject areas
- Computer Science Applications
- Computer Networks and Communications
- Artificial Intelligence
Cite this
Speed control of an omnidirectional walker by forearm pressures [considering features in force exertion with forearms]. / Jiang, Yinlai; Wang, Shuoyu; Tan, Renpeng; Ishida, Kenji; Kobayashi, Yo; Fujie, Masakatsu G.
BODYNETS 2013 - 8th International Conference on Body Area Networks. ICST, 2013. p. 307-312.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Speed control of an omnidirectional walker by forearm pressures [considering features in force exertion with forearms]
AU - Jiang, Yinlai
AU - Wang, Shuoyu
AU - Tan, Renpeng
AU - Ishida, Kenji
AU - Kobayashi, Yo
AU - Fujie, Masakatsu G.
PY - 2013/10/29
Y1 - 2013/10/29
N2 - 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.
AB - 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.
KW - Control intention
KW - Forearm pressure
KW - Human-robot interface
KW - Omnidirectional walker
UR - http://www.scopus.com/inward/record.url?scp=84947077867&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84947077867&partnerID=8YFLogxK
U2 - 10.4108/icst.bodynets.2013.253665
DO - 10.4108/icst.bodynets.2013.253665
M3 - Conference contribution
AN - SCOPUS:84947077867
SN - 9781936968893
SP - 307
EP - 312
BT - BODYNETS 2013 - 8th International Conference on Body Area Networks
PB - ICST
ER -