User control intention recognition of an omnidirectional walking support walker

Considering both directional and rotational intentions

Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Takeshi Ando, Masakatsu G. Fujie

    Research output: Contribution to journalArticle

    3 Citations (Scopus)

    Abstract

    An omnidirectional walker (ODW) is being developed for walking rehabilitation and walking support. In walking support, the ODW follows and supports the user's movement. Therefore, it is necessary to control the ODW to follow the users' intentions. We propose a novel interface to enable a user to intuitively control the ODW with forearm pressure from the wrists and elbows. This forearm pressure exerted on the ODW is measured by four force sensors embedded in the ODW armrests. The relationship between the forearm pressure and the user intentions was previously extracted as fuzzy rules, and an algorithm was proposed for directional intention recognition based on the distance-type fuzzy reasoning method. However, only straight direction intentions were considered in the previous studies, and the orientation of the ODW was supposed invariable, which is not normal in daily walking. In this paper, vie introduce rotational direction recognition into the interface by adding fuzzy rules into the rule base. A path-tracking experiment was conducted with the proposed method. The results show that the algorithm can control the ODW to follow the user's rotational intention as well as directional intention.

    Original languageEnglish
    Pages (from-to)479-484
    Number of pages6
    JournalICIC Express Letters
    Volume6
    Issue number2
    Publication statusPublished - 2012 Feb

    Fingerprint

    Fuzzy rules
    Patient rehabilitation
    Sensors
    Experiments

    Keywords

    • Directional intention recognition
    • Distance-type fuzzy reasoning method
    • Omnidirectional walker
    • Rotational intention recognition
    • Walking support

    ASJC Scopus subject areas

    • Computer Science(all)
    • Control and Systems Engineering

    Cite this

    User control intention recognition of an omnidirectional walking support walker : Considering both directional and rotational intentions. / Jiang, Yinlai; Wang, Shuoyu; Ishida, Kenji; Ando, Takeshi; Fujie, Masakatsu G.

    In: ICIC Express Letters, Vol. 6, No. 2, 02.2012, p. 479-484.

    Research output: Contribution to journalArticle

    Jiang, Yinlai ; Wang, Shuoyu ; Ishida, Kenji ; Ando, Takeshi ; Fujie, Masakatsu G. / User control intention recognition of an omnidirectional walking support walker : Considering both directional and rotational intentions. In: ICIC Express Letters. 2012 ; Vol. 6, No. 2. pp. 479-484.
    @article{a461e727e4e04d59b6175a5de495b172,
    title = "User control intention recognition of an omnidirectional walking support walker: Considering both directional and rotational intentions",
    abstract = "An omnidirectional walker (ODW) is being developed for walking rehabilitation and walking support. In walking support, the ODW follows and supports the user's movement. Therefore, it is necessary to control the ODW to follow the users' intentions. We propose a novel interface to enable a user to intuitively control the ODW with forearm pressure from the wrists and elbows. This forearm pressure exerted on the ODW is measured by four force sensors embedded in the ODW armrests. The relationship between the forearm pressure and the user intentions was previously extracted as fuzzy rules, and an algorithm was proposed for directional intention recognition based on the distance-type fuzzy reasoning method. However, only straight direction intentions were considered in the previous studies, and the orientation of the ODW was supposed invariable, which is not normal in daily walking. In this paper, vie introduce rotational direction recognition into the interface by adding fuzzy rules into the rule base. A path-tracking experiment was conducted with the proposed method. The results show that the algorithm can control the ODW to follow the user's rotational intention as well as directional intention.",
    keywords = "Directional intention recognition, Distance-type fuzzy reasoning method, Omnidirectional walker, Rotational intention recognition, Walking support",
    author = "Yinlai Jiang and Shuoyu Wang and Kenji Ishida and Takeshi Ando and Fujie, {Masakatsu G.}",
    year = "2012",
    month = "2",
    language = "English",
    volume = "6",
    pages = "479--484",
    journal = "ICIC Express Letters",
    issn = "1881-803X",
    publisher = "ICIC Express Letters Office",
    number = "2",

    }

    TY - JOUR

    T1 - User control intention recognition of an omnidirectional walking support walker

    T2 - Considering both directional and rotational intentions

    AU - Jiang, Yinlai

    AU - Wang, Shuoyu

    AU - Ishida, Kenji

    AU - Ando, Takeshi

    AU - Fujie, Masakatsu G.

    PY - 2012/2

    Y1 - 2012/2

    N2 - An omnidirectional walker (ODW) is being developed for walking rehabilitation and walking support. In walking support, the ODW follows and supports the user's movement. Therefore, it is necessary to control the ODW to follow the users' intentions. We propose a novel interface to enable a user to intuitively control the ODW with forearm pressure from the wrists and elbows. This forearm pressure exerted on the ODW is measured by four force sensors embedded in the ODW armrests. The relationship between the forearm pressure and the user intentions was previously extracted as fuzzy rules, and an algorithm was proposed for directional intention recognition based on the distance-type fuzzy reasoning method. However, only straight direction intentions were considered in the previous studies, and the orientation of the ODW was supposed invariable, which is not normal in daily walking. In this paper, vie introduce rotational direction recognition into the interface by adding fuzzy rules into the rule base. A path-tracking experiment was conducted with the proposed method. The results show that the algorithm can control the ODW to follow the user's rotational intention as well as directional intention.

    AB - An omnidirectional walker (ODW) is being developed for walking rehabilitation and walking support. In walking support, the ODW follows and supports the user's movement. Therefore, it is necessary to control the ODW to follow the users' intentions. We propose a novel interface to enable a user to intuitively control the ODW with forearm pressure from the wrists and elbows. This forearm pressure exerted on the ODW is measured by four force sensors embedded in the ODW armrests. The relationship between the forearm pressure and the user intentions was previously extracted as fuzzy rules, and an algorithm was proposed for directional intention recognition based on the distance-type fuzzy reasoning method. However, only straight direction intentions were considered in the previous studies, and the orientation of the ODW was supposed invariable, which is not normal in daily walking. In this paper, vie introduce rotational direction recognition into the interface by adding fuzzy rules into the rule base. A path-tracking experiment was conducted with the proposed method. The results show that the algorithm can control the ODW to follow the user's rotational intention as well as directional intention.

    KW - Directional intention recognition

    KW - Distance-type fuzzy reasoning method

    KW - Omnidirectional walker

    KW - Rotational intention recognition

    KW - Walking support

    UR - http://www.scopus.com/inward/record.url?scp=84863016817&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84863016817&partnerID=8YFLogxK

    M3 - Article

    VL - 6

    SP - 479

    EP - 484

    JO - ICIC Express Letters

    JF - ICIC Express Letters

    SN - 1881-803X

    IS - 2

    ER -