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.
|ホスト出版物のタイトル||2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011|
|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月 7 → 2011 8月 10
|Other||2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011|
|Period||11/8/7 → 11/8/10|
ASJC Scopus subject areas