A human adaptive path tracking method for omnidirectional passive walking aid system

Naemeh Nejatbakhsh, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This work presents a new path tracking method for a passive-type omnidirectional walking aid system, called Omni RT Walker-II (ORTW-II). ORTW-II is the second version of a walking aid system with an omnidirectional platform and uses MR brakes for its control. A new interpretation of paths, called potential canal is conducted in this paper in order to realize tracking via merely control of brakes of the passive system. Unlike most tracking methods which attempt to lead an objective system on a desired trajectory, in the new algorithm, a mobile system's motion is constrained in a pathway rather than a single trajectory and motion can be conducted by the user. In systems with direct human interaction similar to walking aid systems, the new method is expected to increase userdependability of the system's behavior while increasing user's freedom. A collision-free potential canal is maintained using a realtime modification method, based on environmental information. Experimental results are included to evaluate the accuracy and quality of tracking.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages1145-1150
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Artificial potential field
  • Passive robotics
  • Path tracking
  • Walking aid

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Nejatbakhsh, N., & Kosuge, K. (2005). A human adaptive path tracking method for omnidirectional passive walking aid system. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1145-1150). [1545331] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545331