Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1"

Takeshi Ando*, Yu Ogawa, Yasutaka Nakashima, Eiichi Ohki, Yo Kobayashi, Misato Nihei, Masakatsu G. Fujie

*この研究の対応する著者

研究成果: Conference contribution

抄録

We have been developing the new personal mobility aid, "Tread-Walk 1," which is controlled by the driver's walking pace and amplifies walking velocity. The Tread-Walk 1 not only assists mobility but also helps the elderly maintain their physical abilities. However, the turning movement of the Tread-Walk is likely to be unstable, because the Tread-Walk is controlled by walking. In this paper, we focus on the stable turning movement of the Tread-Walk 1. First, we simulate the centrifugal force applied to the driver, which was not considered in our previous report. Then, a new algorithm to realize stable turning movement is established by measuring the driver's standing position. Finally, the developed algorithm for the turning movement of the Tread-Walk 1 is evaluated by measuring the handle grasping time. With the new algorithm, the Tread-Walk 1 turned steadily and driver did not lose their balance.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ4157-4162
ページ数6
DOI
出版ステータスPublished - 2011
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai
継続期間: 2011 5 92011 5 13

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • ソフトウェア
  • 人工知能
  • 制御およびシステム工学
  • 電子工学および電気工学

引用スタイル