Control of an omnidirectional walking support walker by forearm pressures

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

    研究成果: Conference contribution

    抄録

    We have been developing an omnidirectional walker (ODW) for walking support. In walking support, it is necessary control the ODW following the user's direction and velocity intentions. In this paper, a novel interface is proposed to recognize the user's intentions according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by 4 force sensors embedded in the ODW's armrest. The relationship between forearm pressure and user intentions was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on the distance-type fuzzy reasoning method. We conduct a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW.

    本文言語English
    ホスト出版物のタイトルProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
    ページ7466-7469
    ページ数4
    DOI
    出版ステータスPublished - 2011
    イベント33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA
    継続期間: 2011 8 302011 9 3

    Other

    Other33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
    CityBoston, MA
    Period11/8/3011/9/3

    ASJC Scopus subject areas

    • コンピュータ ビジョンおよびパターン認識
    • 信号処理
    • 生体医工学
    • 健康情報学

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