Control of mobility assistive robot for human fall prevention

Geravand, Milad; Rampeltshammer, Wolfgang; Peer, Angelika

doi:10.1109/icorr.2015.7281314

Cited by 12 publications

(8 citation statements)

References 15 publications

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“…So, this indicator is relatively constraining for the user that cannot excess a fixed speed. 62 propose to use XCOM (eXtrapolated Centre Of Mass) to take the COM into account but also the COM speed. This indicator helps making earlier and more specific detection.…”

Section: Methods For Managing Loss Of Balancementioning

confidence: 99%

See 1 more Smart Citation

Smart walkers: an application-oriented review

et al. 2016

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SUMMARYIn this paper, a development method for smart walker prototypes is proposed. Development of such prototypes is based on technological choices and device evaluations. The method is aimed at guiding technological choices in a modular fashion. First, the method for choosing modules to be integrated in a smart walker is presented. Application-specific modules are then studied. Finally, the issues of evaluation are investigated. In order to work out this method, more than 50 smart walkers and their pros and cons with respect to the different studied applications are reviewed.

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Section: Methods For Managing Loss Of Balancementioning

confidence: 99%

“…They propose to do so because correcting patient's motion seems too hazardous. However, Geravand et al 62 propose a system of articulated arms that applies efforts on the user in order to help him/her recovering balance. Nevertheless, further experimentation is required for validating this method.…”

Section: Methods For Managing Loss Of Balancementioning

confidence: 99%

Smart walkers: an application-oriented review

et al. 2016

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“…Compliance has been extensively studied over the past two decades [6]- [14]. Commonly exploited in the industry for mechanical assembly purposes [15], [16] or the realization of cooperative tasks [17], it is henceforth increasingly used in the context of rehabilitation [18] and assistive robotics [19]. However, its generalization to multi-contact interaction scenarios between humans and robots remains difficult for two main reasons.…”

Section: A Motivationmentioning

confidence: 99%

“…12, (13) and eq. (19). It is important to note that single and dual arm interactions are treated exactly in the same manner since each arm has its own controller instance, running in a specific thread, as exposed in Fig.3.c.…”

Section: Experimental Evaluationmentioning

confidence: 99%

Tactile-Based Whole-Body Compliance With Force Propagation for Mobile Manipulators

et al. 2019

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In this article, we propose a control method, providing mobile robots with whole-body compliance capabilities, in response to multi-contact physical interactions with their environment. The external forces applied to the robot, as well as their localization on its kinematic tree, are measured using a multimodal, self-configuring and self-calibrating artificial skin. We formulate a compliance control law in Cartesian space, as a set of quadratic optimization problems, solved in parallel for each limb involved in the interaction process. This specific formulation makes it possible to determine the torque commands required to generate the desired reactive behaviors, while taking the robot kinematic and dynamic constraints into account. When a given limb fails to produce the desired compliant behavior, the generalized force residual at the considered contact points is propagated to a parent limb in order to be adequately compensated. Hence, the robot's compliance range can be extended in a both robust and easily adjustable manner. The experiments performed on a dual-arm velocity-controlled mobile manipulator, show that our methodology is robust to nullspace interactions and robot physical constraints.

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“…Hand-operated robotic devices have recently been developed to aid walking similar to a powered cane ( Suzuki et al, 2009 ; Di et al, 2016 ; Nakagawa et al, 2016 ; Lam and Fujimoto, 2019 ; Trujillo-León et al, 2020 ) or walker/rollator (see reviews in ( Martins et al, 2012 , 2015 ; Werner et al, 2016 )). Robotic walking aids have been designed to aid balance through a variety of methods such as providing mechanical support during falls ( Hirata et al, 2006 ; Suzuki et al, 2009 ; Mou et al, 2012 ; Geravand et al, 2015 ; Di et al, 2016 ; Lam and Fujimoto, 2019 ), preventing risky postures ( Nakagawa et al, 2016 ), or providing a proprioceptive cue ( Stramel et al, 2019 ), but it is unclear which strategies are most intuitive and beneficial to the user. Meanwhile, a person can quickly and intuitively aid another person’s balance during walking by holding their hand.…”

Section: Introductionmentioning

confidence: 99%

Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication

Drnach

Bong

et al. 2021

Front. Robot. AI

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Principles from human-human physical interaction may be necessary to design more intuitive and seamless robotic devices to aid human movement. Previous studies have shown that light touch can aid balance and that haptic communication can improve performance of physical tasks, but the effects of touch between two humans on walking balance has not been previously characterized. This study examines physical interaction between two persons when one person aids another in performing a beam-walking task. 12 pairs of healthy young adults held a force sensor with one hand while one person walked on a narrow balance beam (2 cm wide x 3.7 m long) and the other person walked overground by their side. We compare balance performance during partnered vs. solo beam-walking to examine the effects of haptic interaction, and we compare hand interaction mechanics during partnered beam-walking vs. overground walking to examine how the interaction aided balance. While holding the hand of a partner, participants were able to walk further on the beam without falling, reduce lateral sway, and decrease angular momentum in the frontal plane. We measured small hand force magnitudes (mean of 2.2 N laterally and 3.4 N vertically) that created opposing torque components about the beam axis and calculated the interaction torque, the overlapping opposing torque that does not contribute to motion of the beam-walker’s body. We found higher interaction torque magnitudes during partnered beam-walking vs. partnered overground walking, and correlation between interaction torque magnitude and reductions in lateral sway. To gain insight into feasible controller designs to emulate human-human physical interactions for aiding walking balance, we modeled the relationship between each torque component and motion of the beam-walker’s body as a mass-spring-damper system. Our model results show opposite types of mechanical elements (active vs. passive) for the two torque components. Our results demonstrate that hand interactions aid balance during partnered beam-walking by creating opposing torques that primarily serve haptic communication, and our model of the torques suggest control parameters for implementing human-human balance aid in human-robot interactions.

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Control of mobility assistive robot for human fall prevention

Cited by 12 publications

References 15 publications

Smart walkers: an application-oriented review

Smart walkers: an application-oriented review

Tactile-Based Whole-Body Compliance With Force Propagation for Mobile Manipulators

Human-Human Hand Interactions Aid Balance During Walking by Haptic Communication

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