Power-assisted cart control method with motor torque limiter based on prediction and its reliability

Kobayashi, Norihiro; Tanaka, Takayuki

doi:10.1109/sii.2014.7028112

Cited by 1 publication

(1 citation statement)

References 7 publications

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“…Yu et al [16] developed a personal mobility aid and health monitoring system consisting of a cane/walker robot with a force/torque sensor and a proposed admittance-based control method. Kobayashi et al [17] proposed a control method with operational prediction. However, uncertainties such as environmental variation have not been considered and so would become limitations of these methods in practical applications.…”

Section: Introductionmentioning

confidence: 99%

A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications

Wan

Zhang

et al. 2021

Applied Sciences

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In this paper, we propose two control methods for driving a power-assisted cart made for walking assistance for the elderly. The optimal assistance ratio (OAR) and disturbance observer-based (DOB) methods properly adjust the motor output of the cart with high operational efficiency in response to changes in the environment. Healthy subjects walked with the cart on several road surfaces under various conditions, and the experimental results indicate the high operational efficiency of the two proposed methods. Meanwhile, their drawbacks are also discussed herein. The two methods can be used separately or combined according to the application. The OAR method is more suitable for indoor use, while the DOB method is applicable for outdoor applications. Combining these two methods could overcome the mentioned drawbacks.

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Section: Introductionmentioning

confidence: 99%