Novel Walking Assist Device Based on Mobile Manipulator and Inertial Measurement Unit

Yang, Chaohe; Murakami, Toshiyuki

doi:10.1541/ieejjia.3.381

Cited by 9 publications

(6 citation statements)

References 11 publications

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“…Assuming the x-axis is the movement direction and y-axis is the orientation direction of walking, the horizontal foot acceleration α f oot horizon is expressed as (9).…”

Section: Foot Motion Measurementmentioning

confidence: 99%

Translation and Inclination Control for Intelligent Tension Pole Based on Mode Decoupling Method

2018

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An aging society is a serious problem in many developed countries. Due to this issue, there has been a significant increase in the demand for assist devices that can support human motion. This paper proposes a novel assist device, Intelligent Tension Pole (ITP), to assist in indoor activities of daily living (ADL), and it is expected to provide support for achieving self-reliance, space saving, and stability. The structure and control system of this assist device are presented. This novel assist device is based on a movable handrail, and therefore wheels are added to the lower and upper ends of the tension pole. In addition, a ball screw, which enables the ITP to move while stretching to the floor and ceiling at any time using force control, is added. In order to improve user comfort and reduce the risk of falling down of the ITP, translation and inclination controls of the ITP are applied to the wheel control. These controls are controlled independently by the mode decoupling method. Experiments are conducted to verify the effectiveness of the proposed device and its control system.

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“…Assuming the x-axis is the movement direction and y-axis is the orientation direction of walking, the horizontal foot acceleration α f oot horizon is expressed as (9).…”

Section: Foot Motion Measurementmentioning

confidence: 99%

Translation and Inclination Control for Intelligent Tension Pole Based on Mode Decoupling Method

2018

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“…Usually, IMU sensor is suffered from noise and off-set, therefore second-order Butterworth filter is utilized to make acceleration value of vertical direction smooth shown in Eq. (12) (10) .…”

Section: Motion Detecting Algorithmmentioning

confidence: 99%

IMU Sensor based Human Motion Detection and Its Application to Braking Control of Electric Wheeled Walker for Fall-prevention

Hirota

Murakami

2016

IEEJ Journal IA

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With the increase in the aging population of developed countries, the demand for walking assisting devices has grown. Walkers are widely used because they provide high mobility and safety. In this paper, an electric wheeled walker (EWW) is used to prevent the user from falling down. This paper presents novel fall prevention systems that are composed of a human motion detecting algorithm and a braking system. The motion detecting algorithm focuses on the reaction torque of the EWW and the acceleration of the user. The reaction torque is estimated by the reaction torque observer (RTOB), and the acceleration is measured by using one IMU sensor. The braking system works by switching commands on the basis of human motion. Four motions are considered, and if the user motion is detected as dangerous, the command value switches, and braking is initiated in response to the user posture. Experiments are performed to verify the effectiveness of the proposed algorithm and controller.

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“…The disturbance observer (DOB) is often termed as the pronoun of motion control technology. Hence, majority of papers related to motion control in IEEJ J. IA are related to DOB .…”

Section: Motion Controlmentioning

confidence: 99%

“…For example, Murakami et al . presented a walking assist device by using an inertial measurement unit (IMU) . The IMU was fixed to the foot of an elderly individual in order to estimate his or her real walking motion.…”

Section: Motion Controlmentioning

confidence: 99%

Recent advances and outlook in industrial instrumentation and mechatronics control

Shimada

2016

IEEJ Transactions Elec Engng

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Recent years have been characterized by marked progress in industrial instrumentation and mechatronics control technology. This year commemorates the fifth publication year of the IEEJ Journal of Industry Applications (emIEEJ J. IA). Additionally, the Mechatronics Control (MEC) technical committee was formed 3 years ago following a separation from the Industrial Instruments and Control (IIC) technical committee in order to further enhance their respective social contributions. The increased activity of both committees also contributed to the progress of the Journal. This paper discusses the recent advances and outlook in the technical field of industrial instrumentation and mechatronics control based on papers published in the IEEJ J. IA and a few other significant papers, which consider the current activities of the various committees.

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Novel Walking Assist Device Based on Mobile Manipulator and Inertial Measurement Unit

Cited by 9 publications

References 11 publications

Translation and Inclination Control for Intelligent Tension Pole Based on Mode Decoupling Method

Translation and Inclination Control for Intelligent Tension Pole Based on Mode Decoupling Method

IMU Sensor based Human Motion Detection and Its Application to Braking Control of Electric Wheeled Walker for Fall-prevention

Recent advances and outlook in industrial instrumentation and mechatronics control

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