Fall prevention control of passive intelligent walker based on human model

Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge

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

65 Citations (Scopus)

Abstract

As aging progresses, fall accident of the person using the walker is an acute problem. It is necessary to know the situation of the user's fall to prevent it. In this paper, we propose a method for estimating the user's fall by modeling of the user in real time as a solid body link model, and pay attention to the center of gravity of the model. We also propose a method for controlling a passive intelligent walker to prevent the user's fall according to the support polygon and the walking characteristic of the user. We experimented with passive intelligent walker in which we implement the proposed fall prevention control and show the effectiveness of the proposal method.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1222-1228
Number of pages7
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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