Path tracking control of an omni-directional walker considering pressures from a user

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

    研究成果: Conference contribution

    2 被引用数 (Scopus)

    抄録

    An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.

    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910-913
    ページ数4
    DOI
    出版ステータスPublished - 2013
    イベント2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka
    継続期間: 2013 7 32013 7 7

    Other

    Other2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
    CityOsaka
    Period13/7/313/7/7

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition
    • Signal Processing
    • Biomedical Engineering
    • Health Informatics

    フィンガープリント 「Path tracking control of an omni-directional walker considering pressures from a user」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

    引用スタイル