Active and Passive Control of Walk-Assist Robot for Outdoor Guidance

Ko, Chun-Hsu; Young, Kuu‐Young; Huang, Yi-Che; Agrawal, Sunil K.

doi:10.1109/tmech.2012.2201736

Cited by 44 publications

(13 citation statements)

References 21 publications

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“…Testing assistive devices with users with disabilities is usually challenging, so many works in this area tend to test with healthy [7], [8], [17], [18] or simulated users [11]. Other works focus on specific groups of users, e.g.…”

Section: B Test Populationmentioning

confidence: 99%

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Online estimation of rollator user condition using spatiotemporal gait parameters

Ballesteros

Urdiales

Martínez

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Assistance to people during rehabilitation has to be adapted to their needs. Too little help can lead to frustration and stress in the user; an excess of help may lead to low participation and loss of residual skills. Robotic rollators may adapt assistance. The main challenge to cope with this issue is to estimate how much help is needed on the fly, because it depends not only on the person condition, but also on the specific situation that they are negotiating. Clinical scales provide a global condition based estimation, but no local estimator based on punctual needs. Condition also changes in time, so clinical scales need to be recalculated again and again. In this paper we propose a novel approach to estimate users' condition in a continuous way via a robotic rollator. Our work focuses on predicting the value of the well known Tinetti Mobility test from spatiotemporal gait parameters obtained from our platform while users walk. This prediction provides continuous insight on the condition of the user and could be used to modify the amount of help provided. The proposed method has been validated with 19 volunteers at a local hospital that use a rollator for rehabilitation. All volunteers presented some physical or mental disabilities. Our results sucessfully show a high correlation of spatiotemporal gait parameters with Tinetti Mobility test gait (R2 = 0.7) and Tinetti Mobility test balance (R2 = 0.6).

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Section: B Test Populationmentioning

confidence: 99%

“…Walking assistance and fall prevention have been extensively investigated in the field of smart rollators [5], [6], [7], [8], [9]. However, only a few works [10], [11] propose to adjust the amount of assistance.…”

Section: Introductionmentioning

confidence: 99%

Online estimation of rollator user condition using spatiotemporal gait parameters

Ballesteros

Urdiales

Martínez

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…Referring to our previous work [16], we can compute these forces (torques), and linear and angular velocities and accelerations for the two wheels as…”

Section: Learning Schemementioning

confidence: 99%

“…On the other hand, passive type assistive walkers [11][12][13][14][15][16] are based on a movable platform that is no propulsion from the walker and is driven only by the forces supplied by the user. Such walkers usually do not have any other functions, apart from passive walking aid.…”

Section: Introductionmentioning

confidence: 99%

Adaptive guidance system design for the assistive robotic walker

Huang

Lee

2015

Neurocomputing

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“…Chun-Hsu Ko and team [3]proposed static path planning, acceleration/deceleration,slope guidance algorithm for a robot walking helper with both passive and active control modes for guidance. The team proposed the algorithm for walker helper robot which is used for the elder people who they are not able to walk on the hill and it improving the activities of daily living.…”

Section: Literature Reviewmentioning

confidence: 99%

An Approach of Orientation Detection for balancing object on Robotic Vehicle for Non-Plane Surface

Uge¹,

Katkar²

2014

IOSRJEN

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-In recent time development of multimodal robot or autonomous robots are designed for multiple requirements and multiple platforms. Many space research centers are working on robot which can control its position and also adjust their shape on demand.Falling robot is one of the biggest challenges in robot design for non-plane surface. Researchers' also developing different sensors for detecting object position in maximum possible coordinate with different degree of angle.Theproposed system is to make the robotic vehicle operated through computer system in different direction with inbuilt capability of self-balancing on non-plane surface.In this paper we demonstrate the tilt angle of the object. Basic technology used in proposed system is gyro-meter to identify tilt angle of object in order to give support from opposite side to neutralize the tilt angle and also neutralized effect of tilt by maintaining center of gravity.

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Active and Passive Control of Walk-Assist Robot for Outdoor Guidance

Cited by 44 publications

References 21 publications

Online estimation of rollator user condition using spatiotemporal gait parameters

Online estimation of rollator user condition using spatiotemporal gait parameters

Adaptive guidance system design for the assistive robotic walker

An Approach of Orientation Detection for balancing object on Robotic Vehicle for Non-Plane Surface

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