Research on steady characteristics of human-robot system for preventing elderly falls during walking

Zhang, Xiaodong; Mu, Xiaoqi; Li, Liangliang; Alhassan, Ahmad Bala; Hamza, Khaled

doi:10.1007/s12206-022-0836-9

Cited by 3 publications

(3 citation statements)

References 33 publications

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“…The region surrounded by two boundaries is the DSR of human body. Under the above four situations, the relationships between F l , F r , and V C can be given respectively in our published article, 33 and “( X C / l f , V C / h )∈DSR” is ensured in each situation to make the elderly not to fall.…”

Section: Methodsmentioning

confidence: 99%

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Control method of elderly-assistant robot for preventing elderly fall

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The elderly are prone to fall during walking, which not only leads to injury but also can cause permanent disability or even death. Thus, it is crucial for the walking-assistant robot to prevent the elderly from fall during walking. However, the factors affecting the steadiness of the elderly are not considered comprehensively in the existing studies of elderly fall prevention model and control schemes. In this paper, a novel control method of the elderly-assistant robot for preventing elderly fall is proposed by considering the two main factors affecting steadiness of the elderly, namely, position and velocity of the center of mass. Initially, the dynamics of the robot system for preventing elderly fall are derived respectively from different elderly fall situations. Then, the elderly-assistant robot is controlled to stop at an appropriate position, and to minimize the tilt angle as small as possible to avoid overturned. The control system ensures that the position-velocity coordinates of the center of mass of the elderly reach the dynamic steadiness region which guarantees human balance. Finally, the results of the simulation and the experiments show that the proposed control method of the elderly-assistant robot can be effectively used to prevent the elderly fall during walking.

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Section: Methodsmentioning

confidence: 99%

“…The parameters of the elderly-assistant robot have been given (see our published article 33 ). In addition, the initial displacements and tilt angles of the elderly-assistant robot and the human are all set to zero for the four situations.…”

Section: Simulation Analysis and Experimental Verificationmentioning

confidence: 99%

Control method of elderly-assistant robot for preventing elderly fall

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…In recent years, with the progressive aging of the population, the use of various mobilityassisting devices, such as walkers [1][2][3][4][5], canes [6,7], exoskeletons [8][9][10], wheelchairs [11,12], and mobility scooters [13,14], has become prevalent. Such mobility devices typically use wheels.…”

Section: Introductionmentioning

confidence: 99%

Two Functional Wheel Mechanism Capable of Step Ascending for Personal Mobility Aids

et al. 2023

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Obstacles such as ramps, steps, and irregular floor surfaces are commonly encountered in homes, offices, and other public spaces. These obstacles frequently limit the daily activities of people who use mobility aids. For this purpose, this study solves a slope minimization problem for personal mobility aids. As a solution approach, a gradient-reduction scheme is proposed, which allows existing mobility aids to reduce the required horizontal forces and vibrations when ascending steps while maintaining their wheel sizes. Practically, an axle-transitional wheel mechanism realizing the gradient-reduction computation model is established, and its step-ascending wheel prototype is developed. Specifically, since the proposed wheel enables integration into existing personal mobility-assisting devices, two functional roles, such as rolling and step ascending, can be used. The developed step-climbing wheel can help the users of mobility aids mitigate the aforementioned limitations. The physical and mental burdens of caregivers and medical staff can also be reduced by making the users of the gradient-reduction scheme more self-sufficient. This study provides details on the axle-transitional wheel mechanism and its step-ascending wheel prototype. The findings are analyzed mathematically, and their functionality is verified through extensive experiments using a prototype.

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