TY - GEN
T1 - Adaptive guidance for the elderly based on user intent and physical impairment
AU - Nejatbakhsh, N.
AU - Kosuge, K.
PY - 2006
Y1 - 2006
N2 - A realtime path modification algorithm based on user walking ability and intent is discussed in this paper. This path planning method is being tested by a passive-type mobility aid device called Omni RT Walker-II (ORTW-H) which its motion is exclusively generated by its user, while its controller constrains undesired motion by control of four servo brakes at each wheel assembly. The Potential Canal is an accessible area of the environment in which user-walker motion is constrained. Fall prevention is the first factor which is considered in realtime modification of the Potential Canal. User intent in modifying the accessible are is being interpreted by a force/moment sensor and is used for realtime modification of the Potential Canal. Experimental results by ORTW-II are provided and discussed.
AB - A realtime path modification algorithm based on user walking ability and intent is discussed in this paper. This path planning method is being tested by a passive-type mobility aid device called Omni RT Walker-II (ORTW-H) which its motion is exclusively generated by its user, while its controller constrains undesired motion by control of four servo brakes at each wheel assembly. The Potential Canal is an accessible area of the environment in which user-walker motion is constrained. Fall prevention is the first factor which is considered in realtime modification of the Potential Canal. User intent in modifying the accessible are is being interpreted by a force/moment sensor and is used for realtime modification of the Potential Canal. Experimental results by ORTW-II are provided and discussed.
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U2 - 10.1109/ROMAN.2006.314440
DO - 10.1109/ROMAN.2006.314440
M3 - Conference contribution
AN - SCOPUS:48349128868
SN - 1424405653
SN - 9781424405657
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 510
EP - 514
BT - Proceedings - RO-MAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication
T2 - RO-MAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication
Y2 - 6 September 2006 through 8 September 2006
ER -