Human-Walking-Intention-Based Motion Control of an Omnidirectional-Type Cane Robot

Wakita, Kohei; Huang, Jian; Di, Pei; Sekiyama, Kosuke; Fukuda, Toshio

doi:10.1109/tmech.2011.2169980

Cited by 164 publications

(94 citation statements)

References 24 publications

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“…The reason for this better performance is that the force sensors used in the proposed method are more stable and have less noise and drift phenomena. Besides, although identification errors were found in each direction, the results were promising and showed greater levels of accuracy than those reported elsewhere [32,35]. Since the proposed fuzzy knowledge base drawn from linguistic variables can appropriately simulate the relation between forearm pressure and directional intent, it is more accurate than the method proposed in [32,35].…”

Section: Discussionmentioning

confidence: 70%

“…Besides, although identification errors were found in each direction, the results were promising and showed greater levels of accuracy than those reported elsewhere [32,35]. Since the proposed fuzzy knowledge base drawn from linguistic variables can appropriately simulate the relation between forearm pressure and directional intent, it is more accurate than the method proposed in [32,35]. The cause of identification errors might be related to the exact of knowledge base and reasonability of the distance-calculation method and reasoning method.…”

Section: Discussionmentioning

confidence: 74%

“…An interface "plate" was developed to indicate directional intent [33]. and in some other approaches, the handles of the walker were equipped with 6-DOF force/moment sensors [34] or a six-axis force/torque sensor was used to create an interface between the user and an omnidirectional cane robot [35]. The essential principle of these methods, however, is the same as the principle using a joystick to guide an electric wheelchair, which was developed without considering the user and only focusing upon the basic mechanical functions of the robot.…”

Section: Introductionmentioning

confidence: 99%

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A New Directional-Intent Recognition Method for Walking Training Using an Omnidirectional Robot

Wang

2017

J Intell Robot Syst

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In order to avoid being bedridden, a preemptive walking rehabilitation is essential for people who lose their walking ability because of illness or accidents. In a previous study, we developed an omnidirectional walking training robot (WTR), the effectiveness of which in rehabilitation was validated by clinical testing. In the primary stage of the walking training, the WTR guides the user to follow the predesigned therapy program to conduct the walking training. This study focuses on the later stages of training in which the user plays an active role of determining the training by himself/herself, and the WTR must follow the user's intent. However, identifying a user's intent is challenging. In the present study, we address this problem by introducing a directionalintent identification method based on a distance-type fuzzy reasoning algorithm. The effectiveness of the directional identification method is experimentally confirmed.

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Section: Discussionmentioning

confidence: 70%

Section: Discussionmentioning

confidence: 74%

Section: Introductionmentioning

confidence: 99%

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A New Directional-Intent Recognition Method for Walking Training Using an Omnidirectional Robot

Wang

2017

J Intell Robot Syst

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“…Another means of detecting external forces is physical force/torque sensors such as strain gauges or optoelectronics. This approach has been used in many mobile platform applications such as anticipating user intention with a force-based joystick [21], developing a handle with force/torque sensing capabilities [24], implementing an impedance control law based on force/ torque sensed on a handle [2], and quantifying user intent and responding with an admittance controller based on a force/torque sensor mounted on a stick [11,27]. However, all of these methods rely on detecting forces and torques at a specific location, such as on a handle, or joystick.…”

Section: Mobile Platforms With Contact Detectionmentioning

confidence: 99%

“…(27), with B r given by the model of Eq. (28) we searched over B r and α until the simulation matched the real data.…”

Section: Empirical Estimation Of Roller Dampingmentioning

confidence: 99%

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

2015

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In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located in the robot's drivetrain. Using model based techniques we estimate, with good precision, the location, direction, and magnitude of collision forces, and we develop an admittance controller that achieves a low effective mass in reaction to them. For experimental testing, we use a facility containing a calibrated collision dummy and our holonomic mobile platform. We subsequently explore collisions with the dummy colliding against a stationary base and the base colliding against a stationary dummy. Overall, we accomplish fast reaction times and a reduction of impact forces. A proof of concept experiment presents various parts of the mobile platform, including the wheels, colliding safely with humans.

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Ionic Gels and Their Applications in Stretchable Electronics

Wang

Yang

et al. 2018

Macromol. Rapid Commun.

124

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Ionic gels represent a novel class of stretchable materials where ionic conducting liquid is immobilized in a polymer matrix. This review focuses on the design of ionic gel materials and device fabrication of ionic-gel-based stretchable electronics. In particular, recent progress in ionic-gel-based electronic skin (pressure/strain sensors, electric double-layer transistors, etc.), flexible displays, energy storage devices, and soft actuators are summarized, followed by a discussion of challenges in developing ionic-gel-based electronics and suggestions for future research directions that might overcome those challenges.

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Human-Walking-Intention-Based Motion Control of an Omnidirectional-Type Cane Robot

Cited by 164 publications

References 24 publications

A New Directional-Intent Recognition Method for Walking Training Using an Omnidirectional Robot

A New Directional-Intent Recognition Method for Walking Training Using an Omnidirectional Robot

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human–robot interaction

Ionic Gels and Their Applications in Stretchable Electronics

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