Motion control of passive intelligent walker using servo brakes

Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

研究成果: Article査読

156 被引用数 (Scopus)

抄録

We propose a new intelligent walker based on passive robotics that assists the elderly, handicapped people, and the blind who have difficulty in walking. We developed a prototype of the Robot Technology Walker (RT Walker), a passive intelligent walker that uses servo brakes. The RT Walker consists of a support frame, two casters, two wheels equipped with servo brakes, and it has passive dynamics that change with respect to applied force/moment. This system is intrinsically safe for humans, as it cannot move unintentionally, i.e., it has no driving actuators. In addition, the RT Walker provides a number of navigational features, including good maneuverability, by appropriately controlling the torque of servo brakes based on RT. We propose a human adaptive motion control algorithm that changes the apparent dynamics to adapt to user difficulties, and an environmentally adaptive motion control algorithm, which incorporates environmental information to provide obstacle/step avoidance and gravity compensation functions. The proposed control algorithms are experimentally applied to the RT Walker to test their validity.

本文言語English
ページ(範囲)981-990
ページ数10
ジャーナルIEEE Transactions on Robotics
23
5
DOI
出版ステータスPublished - 2007 10 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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