TY - GEN
T1 - Directional control of an omnidirectional walker for walking support with forearm pressures
AU - Jiang, Yinlai
AU - Ishida, Kenji
AU - Wang, Shuoyu
AU - Ando, Takeshi
AU - Fujie, Masakatsu G.
PY - 2011
Y1 - 2011
N2 - Walking is a fundamental human ability necessary for everyday life. We have developed an omnidirectional walker (ODW) for walking support to those who have walking disabilities. It is necessary for the ODW to know which direction the user is intending to go during walking support. A novel interface is proposed for the ODW to recognize directional intention according to the user's forearm pressures which are measured by force sensors embedded in the armrest. The relationship between forearm pressures and directional intention was extracted as fuzzy rules and an algorithm is proposed for directional intention identification based on distance type fuzzy reasoning method. In this paper, we conduct walking support experiments with the proposed method. The results show that the algorithm is applicable to directional control in walking support.
AB - Walking is a fundamental human ability necessary for everyday life. We have developed an omnidirectional walker (ODW) for walking support to those who have walking disabilities. It is necessary for the ODW to know which direction the user is intending to go during walking support. A novel interface is proposed for the ODW to recognize directional intention according to the user's forearm pressures which are measured by force sensors embedded in the armrest. The relationship between forearm pressures and directional intention was extracted as fuzzy rules and an algorithm is proposed for directional intention identification based on distance type fuzzy reasoning method. In this paper, we conduct walking support experiments with the proposed method. The results show that the algorithm is applicable to directional control in walking support.
KW - directional intention identification
KW - distance type fuzzy reasoning method
KW - omnidirectional walker
KW - walking support
UR - http://www.scopus.com/inward/record.url?scp=80053078994&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80053078994&partnerID=8YFLogxK
U2 - 10.1109/FUZZY.2011.6007467
DO - 10.1109/FUZZY.2011.6007467
M3 - Conference contribution
AN - SCOPUS:80053078994
SN - 9781424473175
SP - 2728
EP - 2731
BT - IEEE International Conference on Fuzzy Systems
T2 - 2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011
Y2 - 27 June 2011 through 30 June 2011
ER -