Optimal guidance by omnidirectional passive mobility aid system

Naemeh Nejatbakhsh, Kazuhiro Kosuge

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

6 Citations (Scopus)

Abstract

This work present a loose guidance method for a passive-type omnidirectional mobility aid device named Omni RT Walker-II, which its motion is performed by shared control of user and controller. Guidance is performed by division of environment to accessible and inaccessible areas and the motion of walker-user system is constrained inside the accessible area called Potential Canal. This paper attempts at providing evidence to the fact that loose guide method is an approach to optimal guidance in the sense that when the control (constrain) of ORTW-II motion is loose, its motion pattern significantly resembles user's unconstrained motion. Healthy user's natural motion is hypothesized to be optimal and is compared with constrained motion pattern of ORTW-II for different settings of the Potential Canal. Experimental results are provided and discussed.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages5786-5791
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/TerritoryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • Human natural motion
  • Mobility aid device
  • Omnidirectional
  • Optimal guidance
  • Passive systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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