抄録
An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering center-of-gravity shifts and load changes. An adaptive control method is shown. Comparison with a dual-loop proportional-integral (PI) controller in simulations shows that the proposed method improves the path tracking accuracy.
本文言語 | English |
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ホスト出版物のタイトル | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 |
ページ | 325-330 |
ページ数 | 6 |
DOI | |
出版ステータス | Published - 2011 |
イベント | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing 継続期間: 2011 8 7 → 2011 8 10 |
Other
Other | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 |
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City | Beijing |
Period | 11/8/7 → 11/8/10 |
ASJC Scopus subject areas
- Artificial Intelligence
- Electrical and Electronic Engineering
- Mechanical Engineering