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

doi:10.4108/icst.bodynets.2013.253665

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

Waseda Research Institute for Science and Engineering

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 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	https://doi.org/10.4108/icst.bodynets.2013.253665
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/Territory	United States
City	Boston
Period	13/9/30 → 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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10.4108/icst.bodynets.2013.253665

Cite this

Jiang, Y, Wang, S, Tan, R, Ishida, K, Kobayashi, Y & Fujie, MG 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. ICST, pp. 307-312, 8th International Conference on Body Area Networks, BODYNETS 2013, Boston, United States, 13/9/30. https://doi.org/10.4108/icst.bodynets.2013.253665

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

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.",

keywords = "Control intention, Forearm pressure, Human-robot interface, Omnidirectional walker",

author = "Yinlai Jiang and Shuoyu Wang and Renpeng Tan and Kenji Ishida and Yo Kobayashi and Fujie, {Masakatsu G.}",

year = "2013",

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doi = "10.4108/icst.bodynets.2013.253665",

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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

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BT - BODYNETS 2013 - 8th International Conference on Body Area Networks

PB - ICST

T2 - 8th International Conference on Body Area Networks, BODYNETS 2013

Y2 - 30 September 2013 through 2 October 2013

ER -

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

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Keywords

ASJC Scopus subject areas

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