User directional intention identification for a walking support walker: Adaptation to individual differences with fuzzy learning

Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi, Masakatsu G. Fujie

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Safety is required as well as usability when developing a human robot interface for a disabled user. We are developing an omni-directional walker (ODW) to support indoor movement for those who have walking disabilities. A novel method is proposed to recognize a user's directional intention according to his/her forearm pressures to the ODW, which are measured by sensors embedded in the ODW's armrest. Fuzzy rules are extracted from the relationship between forearm pressure and directional intention and an algorithm is proposed for directional intention identification based on distance-type fuzzy reasoning method (DTFRM). Furthermore, fuzzy learning is introduced to adapt to the individual difference in forearm pressures. The experiment results show that the reasoning results of the proposed method are consistent with the intended directions, and that fuzzy learning can reduce the reasoning errors caused by individual difference.

本文言語English
ホスト出版物のタイトル6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
ページ1207-1210
ページ数4
DOI
出版ステータスPublished - 2012
イベント2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 - Kobe
継続期間: 2012 11 202012 11 24

Other

Other2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
CityKobe
Period12/11/2012/11/24

ASJC Scopus subject areas

  • 人工知能
  • ソフトウェア

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