Motion control of intelligent passive-type walker for fall-prevention function based on estimation of user state

被引：39

作者：

Hirata, Yasuhisa ^{[1
]}

Muraki, Asami ^{[1
]}

Kosuge, Kazuhiro ^{[1
]}

机构：

[1] Tohoku Univ, PRESTO, JST, Dept Bioengn & Robot, Aoba Yama 01, Sendai, Miyagi 980, Japan

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

D O I：

10.1109/ROBOT.2006.1642236

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we introduce a passive-type walker using servo brakes referred to as RT Walker. RT Walker realizes several functions such as obstacles/steps avoidance function, path following function, gravity compensation function, variable motion characteristics function, etc., by controlling only servo brakes without using servo motors. These passive-type systems are dependable for using practically in real world environment, because of the passive dynamics with respect to the applied force/moment, simple structure, lightweight, and so on. However, the most serious problem of them is the falling accident of user, because the passive-type systems are lightweight and move easily based on the small force/moment applied by the user unintentionally. In this paper, we pay attention to a method for estimating the human state during the usage of the walker and propose a motion control algorithm for realizing a fall-prevention function based on its human state. We also implement the proposed control methods in RT Walker experimentally and illustrate the validity of them.

引用

页码：3498 / +

页数：2

共 10 条

[1]

Fujie M., 1998, P 1 INT WORKSH HUM H

[2]

Goswami A., 1990, Proceedings 1990 IEEE International Conference on Robotics and Automation (Cat. No.90CH2876-1), P279, DOI 10.1109/ROBOT.1990.125987

[3]

Hirata Y, 2005, IEEE INT CONF ROBOT, P2921

[4]

Hirata Y., 2004, P 2004 IEEE RSJ INT, p3871

[5]

Hirata Y., 2003, P IEEE WORKSH ROB HU

[6]

KOTANI S, 1996, ROBOTICS AUTONOMOUS, P119

[7]

PRAUTSCH P, 2000, T I ELECT ENG JAPA D, V120

[8]

SABATINI AM, 2002, P IEEE RSJ INT C INT

[9]

Wandosell JMH, 2002, IEEE ROMAN 2002, PROCEEDINGS, P518, DOI 10.1109/ROMAN.2002.1045674

[10] An adaptive shared control system for an intelligent mobility aid for the elderly [J].

Yu, HY ;

Spenko, M ;

Dubowsky, S .

AUTONOMOUS ROBOTS, 2003, 15 (01) :53-66

← 1 →