Motion control of omni-directional walker for walking support

Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masakatsu G. Fujie

doi:10.1109/ICCME.2011.5876817

Motion control of omni-directional walker for walking support

Renpeng Tan^*, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Masakatsu G. Fujie

^*この研究の対応する著者

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

An omni-directional walker (ODW) has been developed which can support people with walking disabilities to perform indoor walking. During walking support, the walker can identify the user's directional intention according to the user's forearm pressures and support the user to go in the intended direction. In this paper, an adaptive control method is proposed to control the ODW's movement toward the direction in which the user intends to go. Simulation results show that the ODW can accurately follow the user's intention direction with the proposed control method.

本文言語	English
ホスト出版物のタイトル	2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
ページ	633-636
ページ数	4
DOI	https://doi.org/10.1109/ICCME.2011.5876817
出版ステータス	Published - 2011
イベント	2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011 - Harbin 継続期間: 2011 5月 22 → 2011 5月 25

Other

Other	2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
City	Harbin
Period	11/5/22 → 11/5/25

ASJC Scopus subject areas

生体医工学

文献へのアクセス

10.1109/ICCME.2011.5876817

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引用スタイル

Tan, R, Wang, S, Jiang, Y, Ishida, K & Fujie, MG 2011, Motion control of omni-directional walker for walking support. in 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011., 5876817, pp. 633-636, 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011, Harbin, 11/5/22. https://doi.org/10.1109/ICCME.2011.5876817

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title = "Motion control of omni-directional walker for walking support",

abstract = "An omni-directional walker (ODW) has been developed which can support people with walking disabilities to perform indoor walking. During walking support, the walker can identify the user's directional intention according to the user's forearm pressures and support the user to go in the intended direction. In this paper, an adaptive control method is proposed to control the ODW's movement toward the direction in which the user intends to go. Simulation results show that the ODW can accurately follow the user's intention direction with the proposed control method.",

keywords = "Adaptive control, Directional intention identification, Omni-directional walker, Walking support",

author = "Renpeng Tan and Shuoyu Wang and Yinlai Jiang and Kenji Ishida and Fujie, {Masakatsu G.}",

year = "2011",

doi = "10.1109/ICCME.2011.5876817",

language = "English",

isbn = "9781424493241",

pages = "633--636",

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note = "2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011 ; Conference date: 22-05-2011 Through 25-05-2011",

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T1 - Motion control of omni-directional walker for walking support

AU - Tan, Renpeng

AU - Wang, Shuoyu

AU - Jiang, Yinlai

AU - Ishida, Kenji

AU - Fujie, Masakatsu G.

PY - 2011

Y1 - 2011

N2 - An omni-directional walker (ODW) has been developed which can support people with walking disabilities to perform indoor walking. During walking support, the walker can identify the user's directional intention according to the user's forearm pressures and support the user to go in the intended direction. In this paper, an adaptive control method is proposed to control the ODW's movement toward the direction in which the user intends to go. Simulation results show that the ODW can accurately follow the user's intention direction with the proposed control method.

AB - An omni-directional walker (ODW) has been developed which can support people with walking disabilities to perform indoor walking. During walking support, the walker can identify the user's directional intention according to the user's forearm pressures and support the user to go in the intended direction. In this paper, an adaptive control method is proposed to control the ODW's movement toward the direction in which the user intends to go. Simulation results show that the ODW can accurately follow the user's intention direction with the proposed control method.

KW - Adaptive control

KW - Directional intention identification

KW - Omni-directional walker

KW - Walking support

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U2 - 10.1109/ICCME.2011.5876817

DO - 10.1109/ICCME.2011.5876817

M3 - Conference contribution

AN - SCOPUS:79960021218

SN - 9781424493241

SP - 633

EP - 636

BT - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011

T2 - 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011

Y2 - 22 May 2011 through 25 May 2011

ER -

Motion control of omni-directional walker for walking support

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