Passive-type intelligent walking support system "RT Walker"

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

62 Citations (Scopus)

Abstract

We propose a concept of a new walking support system based on passive robotics for supporting elderly people, handicapped people, and blind people who have difficulties in walking, and develop a prototype of new walking support system referred to as RT Walker. RT Walker consists of a support frame, two casters, and two wheels with servo brakes, and has a passive dynamics with respect to the force/moment applied to it, because it does not have any actuators for driving it. RT Walker would be a system with many functions and a good maneuverability by controlling the brake torques of servo brakes appropriately based on Robot Technologies (RT). In this paper, we propose motion control algorithms of RT Walker for changing its apparent dynamics to adapt to the difficulties of the user, and for moving based on the information of an environment.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages3871-3876
Number of pages6
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume4

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • Engineering(all)

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