RoRo

Bieber, Gerald; Chodan, Wencke; Bader, Rainer; Hölle, Bernd; Herrmann, Peter; Ingo, Dreher

doi:10.1145/3316782.3322779

Cited by 5 publications

(5 citation statements)

References 14 publications

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“…In this work we use a robotic walker which supports a person during locomotion. As described in [6] a robotic walker can have multiple functions to support different problems in the elderly locomotion. The robotic rollator can support the human's mobility, increase safety and self-empowerment, compensate unbalanced gait, aid during the sitting or getting up phases and be used for rehabilitation [7,8].…”

Section: Related Workmentioning

confidence: 99%

“…î , then from the actual state x s (t k ) we compute ε î (t k ) and then, by means of ( 7), the desired torques are computed with (6). The term b 0 is needed to avoid oscillatory behaviours while a 0 is needed to generate the correct control signal that forces the wheel angle α r (α l ) to the desired value.…”

Section: Online Controlmentioning

confidence: 99%

“…Fig 6. Experimental evidence of the control action behaviour in case of a user acting purposely against the desired path (orange lines), making slight deviations (green lines) or adhere to the planned path (blue lines).…”

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confidence: 99%

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Humanising robot-assisted navigation

Falqueto,

Antonucci,

Palopoli

et al. 2023

Intel Serv Robotics

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Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the robot controller should kick-in guiding them towards safer paths. Shared authority control is a way to achieve this behaviour by deciding online how much of the authority should be given to the human and how much should be retained by the robot. An open problem is how to evaluate the appropriateness of the human’s choices. One possible way is to consider the deviation from an ideal path computed by the robot. This choice is certainly safe and efficient, but it emphasises the importance of the robot’s decision and relegates the human to a secondary role. In this paper, we propose a different paradigm: a human’s behaviour is correct if, at every time, it bears a close resemblance to what other humans do in similar situations. This idea is implemented through the combination of machine learning and adaptive control. The map of the environment is decomposed into a grid. In each cell, we classify the possible motions that the human executes. We use a neural network classifier to classify the current motion, and the probability score is used as a hyperparameter in the control to vary the amount of intervention. The experiments collected for the paper show the feasibility of the idea. A qualitative evaluation, done by surveying the users after they have tested the robot, shows that the participants preferred our control method over a state-of-the-art visco-elastic control.

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Section: Related Workmentioning

confidence: 99%

Section: Online Controlmentioning

confidence: 99%

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Humanising robot-assisted navigation

Falqueto,

Antonucci,

Palopoli

et al. 2023

Intel Serv Robotics

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“…Matthies et al [14] introduced a step detection algorithm for rollator users based on a three-axis accelerometer in smartwatches. Bieber et al [15] presented the concept of an autonomous electro-powered rollator which can evaluate the mobility, stability, physical ability, and vital signs of the elderly. Zhao et al [16] proposed a smart robotic walker that can safely assist walking by utilizing the gait information of the elderly collected through various sensors installed in the rollator.…”

Section: Introductionmentioning

confidence: 99%

The Effects of Structural Characteristics of the Rollator on the Elderly’s Gait Strategies in Various Walking Environments

Jung,

Kim

2023

Applied Sciences

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A rollator, one of the most widely used among walking assistance devices, can assist the elderly with stable walking in their daily lives. In this study, we investigated how the structural characteristics of two types of rollators affect the upper and lower extremity muscle activity and plantar pressure of the elderly in various walking environments. We quantified muscle activity (upper and lower limbs) and plantar pressure (mean force, peak pressure, and contact area) of 11 older adults walking in various environments (flat, obstacle, uneven, and sloped terrain) using two types of rollators. Upper extremity muscle activity was highest in the obstacle terrain and the uneven terrain, and a significant difference was found due to the structural differences of the rollator. Additionally, it was observed that lower extremity muscle activity and plantar pressure patterns appeared in accordance with the gait strategy to maintain stability in an unstable or inclined walking environment. In other words, it was confirmed that the weight of the rollator, the size of the wheel, grip type, and the auxiliary tools had a great effect on the upper and lower extremity muscle activity and plantar pressure of the elderly during walking. From the results of this study, it can be suggested that it is absolutely necessary to consider the biomechanical characteristics of the elderly and the structure of the rollator, which appear differently depending on the walking environment, in the development of walking aids. In the future, more clinical data will be collected, and based on this a rollator that can safely assist the elderly in various walking environments will be developed.

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“…Digitale Assistenzsysteme stellen einen Ansatzpunkt zur Förderung der Selbstständigkeit älterer Menschen dar. Zur Unterstützung von Menschen mit einer Beeinträchtigung der Mobilität wurden in internationalen Forschungsprojekten bereits digitale Rollatoren entwickelt [ 2 , 19 ]. Diesen Modellen ist gemeinsam, dass sie auf einer Interaktion zwischen Mensch und Roboter-Rollator als künstliche Intelligenz basieren.…”

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Erste Ergebnisse der Evaluation eines digitalen Rollators

et al. 2022

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Zusammenfassung Hintergrund Zur Kompensation physiologischer Einschränkungen und zum Erhalt der Mobilität im Alter werden bevorzugt Rollatoren genutzt. Allerdings können Hindernisse der Umgebung oder die eingeschränkte Wahrnehmung von Sturzgefahren zu Sturzereignissen führen. Ziel der Arbeit Im Rahmen einer Studie wird eine Elektronikbox evaluiert, mit deren Hilfe herkömmliche Rollatoren mit verschiedenen technischen Assistenzsystemen (z. B. Hilferuf an Kontaktpersonen, Sturzerkennung) ergänzt werden (DigiRoll). Die Elektronikbox wurde in der Pilotphase der Studie mit dem Ziel der Weiterentwicklung auf ihre Alltagstauglichkeit getestet. Methodik In einem qualitativen Design wurde der DigiRoll in einer Pilotphase mit 10 Teilnehmenden getestet. Die Personen wurden sowohl in Fokusgruppen als auch Einzelinterviews befragt. Zusätzlich erfolgten ethnografische Beobachtungen. Die Auswertung erfolgte qualitativ inhaltsanalytisch. Ergebnisse Die Proband:innen zeigten ein großes Interesse an der Entwicklung der Assistenzsysteme zur Steigerung des Sicherheitsgefühls, zugleich wurde die Notwendigkeit der Anpassung des DigiRoll an individuelle Bedarfe deutlich, in Abhängigkeit von der Wohnsituation, der Art der Beeinträchtigung und den persönlichen Lebensgewohnheiten. Diskussion Der DigiRoll hat das Potenzial, Menschen mit eingeschränkter Mobilität nachhaltig zu unterstützen, indem er das Sicherheitsgefühl der Nutzer:innen erhöht. Weitere Kontextfaktoren wie der Zugang zu geeigneten Rollatoren und sicheren Gehwegen können nicht durch den DigiRoll beeinflusst werden.

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RoRo

Cited by 5 publications

References 14 publications

Humanising robot-assisted navigation

Humanising robot-assisted navigation

The Effects of Structural Characteristics of the Rollator on the Elderly’s Gait Strategies in Various Walking Environments

Erste Ergebnisse der Evaluation eines digitalen Rollators

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