Human–Robot Interaction Analysis for a Smart Walker for Elderly: The ACANTO Interactive Guidance System

Ferrari, Francesco; Divan, Stefano; Guerrero, Cristina Raquel Luque; Zenatti, Fabiano; Guidolin, Roberta; Palopoli, Luigi; Fontanelli, Daniele

doi:10.1007/s12369-019-00572-5

Cited by 37 publications

(25 citation statements)

References 38 publications

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“…By using the D'alembert's principle, the vibration differential equations of all parts of the human body are given in (11) to (18).…”

Section: B Vibration Model Of the Human Bodymentioning

confidence: 99%

“…Some of these robots have been designed for a specific application, including hospitals for the nursing care [7]- [10], home companionship robots [11]- [17], wheelchairs and walking-aids, which are the main focus of this paper. The FriWalk [18] developed by the University of Trento was one of the walking aids that provided navigation support and guided the elderly along a planned path. The four-wheel walker had two 152-192cm adjustable arms support and was equipped with incremental encoders and cameras for effective navigation.…”

Section: Introductionmentioning

confidence: 99%

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Vibration Characteristics Analysis of Human- Robot Coupled System for Walking Posture of Elderly-Assistant Robot

Zhang

et al. 2021

IEEE Access

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The ever-increasing need for nursing care due to the aging population necessitates the need for safe and efficient elder-assistant robots that can reduce the care burden on the societies. However, most of the existing studies focus only on the robot-user sitting posture. In this paper, the vibration characteristics of the human-robot coupled system for the walking posture of the elderly-assistant robot is analyzed. The work is particularly important as it assesses the possible resonance, which if present, will adversely affect the comfort of the elderly. Initially, the dynamic model of the human-robot coupled system is derived. Then, the modal analysis of the robot is carried out to assess the possible resonance of the system during walking. Thirdly, MATLAB software is used for the vibration simulation analysis of the human-robot coupled model under different scenarios, namely, sudden impact and uneven road situations. Moreover, real-time experiments are conducted on the lab-scale robot to verify the effectiveness of the derived model under the same road conditions. Finally, the sensitivity analysis of the vibration responses to the damping ratio, mass ratios, and the natural frequencies is conducted to assess the effects of the parameters on the vibration responses. The simulation and the real-time analysis show that the model can be effectively used to assess the road-robot-human vibration transmissibility, particularly human hand comfort. Thus, the results demonstrate that the designed robot can be safely used by the elderly as it does not resonate during walking.

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“…By using the D'alembert's principle, the vibration differential equations of all parts of the human body are given in (11) to (18).…”

Section: B Vibration Model Of the Human Bodymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Vibration Characteristics Analysis of Human- Robot Coupled System for Walking Posture of Elderly-Assistant Robot

Zhang

et al. 2021

IEEE Access

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“…For examples, a passive walker is powered by the user-supplied forces with controlled brakes [ 8 , 9 , 10 ]. Recently, the walker powered by motors to steer the walker has attracted a lot of attention [ 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 ]. Patel et al [ 11 ] used an active walker as the experimental platform to exploit the interactions between an intelligent mobility aid and the human operator.…”

Section: Introductionmentioning

confidence: 99%

“…al. [ 28 ] investigated the interaction between users and a robotic walker named FriWalk . The walker has the capability to navigate and guide the user through indoor environment along a planned path.…”

Section: Introductionmentioning

confidence: 99%

ROS-Based Smart Walker with Fuzzy Posture Judgement and Power Assistance

Chang

Sahoo

Chen

et al. 2021

Sensors

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In recent years the increased rate of the aging population has become more serious. With aging, the elderly sometimes inevitably faces many problems which lead to slow walking, unstable or weak limbs and even fall-related injuries. So, it is very important to develop an assistive aid device. In this study, a fuzzy controller-based smart walker with a distributed robot operating system (ROS) framework is designed to assist in independent walking. The combination of Raspberry Pi and PIC microcontroller acts as the control kernel of the proposed device. In addition, the environmental information and user postures can be recognized with the integration of sensors. The sensing data include the road slope, velocity of the walker, and user’s grip forces, etc. According to the sensing data, the fuzzy controller can produce an assistive force to make the walker moving more smoothly and safely. Apart from this, a mobile application (App) is designed that allows the user’s guardian to view the current status of the smart walker as well as to track the user’s location.

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“…(3) Mechanical Robots: Mechanical robots are robots designed for a specific task and have no resemblance to any living being. This category of robots are used as an assistant to help older people with walking such as iGO, a smart walker robot [19] or FriWalk, a walking assistant supporter [20] or automated wheelchairs. These robots aim to increase the mobility of individuals by guiding them in indoor or outdoor environments along with the planned path.…”

Section: Introductionmentioning

confidence: 99%

Assistive Robots Designed for Eldery Care and Caregivers

Sather

Soufineyestani²,

Imtiaz³

et al. 2021

IJRC

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As per the World Population prospects (19th revision), in 2019 every 11th person (11% of the population) was aged 65 or older and by 2050 every 6th person (16% of the world population) will be aged 65 or older. This rapid growth in people aged 65 and above has and will continue to pose some health management concerns, especially in the elderly with chronic ailments. The need for care provision for the elderly has provoked an exploration of various solutions to address elderly care management. Non-pharmacological interventions that utilize technology, such as robotics, are solutions that have proven to prolong independence and delay the admission of elderly into assisted care facilities. This paper will explore the various types of robotic solutions that are currently available to offer elderly care. This study will look at robotic solutions that are humanoid, animal-like, and robots that do not resemble humans or animals and their applications in elderly care. The various applications of robotics and the respective types of robots utilized in the provision of care in elderly care will be discussed as well.

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Human–Robot Interaction Analysis for a Smart Walker for Elderly: The ACANTO Interactive Guidance System

Cited by 37 publications

References 38 publications

Vibration Characteristics Analysis of Human- Robot Coupled System for Walking Posture of Elderly-Assistant Robot

Vibration Characteristics Analysis of Human- Robot Coupled System for Walking Posture of Elderly-Assistant Robot

ROS-Based Smart Walker with Fuzzy Posture Judgement and Power Assistance

Assistive Robots Designed for Eldery Care and Caregivers

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