Motion control algorithms for a new intelligent robotic walker in emulating ambulatory device function

Oscar Chuy, Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

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

17 Citations (Scopus)

Abstract

This paper propose a new motion control algorithms v for an intelligent robotic walker that emulate ambulatory device function such as cane, wheeled walker, and standard walker. Usually, the objective in designing robotic walker is to replaced conventional wheeled walker and introduce new high level functions such as guidance, health monitoring, and others. We extend the objective of a robotic walker in different direction and propose a new motion control algorithms in replacing other ambulatory device such as cane and standard walker. In this study, we will consider the motion control algorithm for wheeled walker, cane, and standard walker based on imposed apparent dynamics to the robotic walker. In cane function emulation, one hand control will be considered. This method of controlling a robotic walker leads to some unintentional applied force/torque and makes the system uncontrollable. With that, we propose to change the kinematic structure of the robotic walker to make the system controllable. In standard walker function emulation, supported weight will be monitored and used to make the system in halt mode during weight transfer. The motion control algorithms were experimentally implemented and the results show its validity.

Original languageEnglish
Title of host publicationIEEE International Conference on Mechatronics and Automation, ICMA 2005
Pages1509-1514
Number of pages6
Publication statusPublished - 2005 Nov 17
EventIEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada
Duration: 2005 Jul 292005 Aug 1

Publication series

NameIEEE International Conference on Mechatronics and Automation, ICMA 2005

Other

OtherIEEE International Conference on Mechatronics and Automation, ICMA 2005
CountryCanada
CityNiagara Falls, ON
Period05/7/2905/8/1

ASJC Scopus subject areas

  • Engineering(all)

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