Walking Intent-Based Movement Control for JAIST Active Robotic Walker

Lee, Geun-Ho; Ohnuma, Takanori; Chong, Nak Young; Lee, Soon-Geul

doi:10.1109/tsmc.2013.2270225

Cited by 59 publications

(23 citation statements)

References 27 publications

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“…Thirteen studies included subjects with motor, functional, cognitive, visual and/or neurological impairments [[12], [16] 1, 2 , [17] 1, 2 , [26], [27], [30,31,32], [34], [36], [38]], whereas a convenient (e.g. ‘ordinary adult males') [19,20,23,24,33], mixed (e.g.…”

Section: Resultsmentioning

confidence: 99%

“…Fourteen articles included comparative studies [19,21,25,27,28,30,31,32,34,38] or single comparative experiments in addition to observations [16,17,26,33]. Comparisons were further distinguished into four categories: (1) ‘inter-device comparisons' in which RRs and conventional devices (e.g.…”

Section: Resultsmentioning

confidence: 99%

“…1-5, 0-100) [[12], [17] 1 , [19], [34]], 2 mentioned the use of questionnaires but did not provide detailed information on contents or a reference [[18] 3 , [26]], and 1 presented results of the subjective evaluation by response categories referring to different items but without mentioning the assessment instrument used for this purpose [23]. Most frequently used outcomes of standardized surveys included maneuverability [[12], [17] 1 , [38]], safety [12,30,38] and comfort [12,19,34]. …”

Section: Resultsmentioning

confidence: 99%

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Evaluation Studies of Robotic Rollators by the User Perspective: A Systematic Review

Werner

Ullrich²,

Geravand³

et al. 2016

Gerontology

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Background: Robotic rollators enhance the basic functions of established devices by technically advanced physical, cognitive, or sensory support to increase autonomy in persons with severe impairment. In the evaluation of such ambient assisted living solutions, both the technical and user perspectives are important to prove usability, effectiveness and safety, and to ensure adequate device application. Objective: The aim of this systematic review is to summarize the methodology of studies evaluating robotic rollators with focus on the user perspective and to give recommendations for future evaluation studies. Methods: A systematic literature search up to December 31, 2014, was conducted based on the Cochrane Review methodology using the electronic databases PubMed and IEEE Xplore. Articles were selected according to the following inclusion criteria: evaluation studies of robotic rollators documenting human-robot interaction, no case reports, published in English language. Results: Twenty-eight studies were identified that met the predefined inclusion criteria. Large heterogeneity in the definitions of the target user group, study populations, study designs and assessment methods was found across the included studies. No generic methodology to evaluate robotic rollators could be identified. We found major methodological shortcomings related to insufficient sample descriptions and sample sizes, and lack of appropriate, standardized and validated assessment methods. Long-term use in habitual environment was also not evaluated. Conclusions: Apart from the heterogeneity, methodological deficits in most of the identified studies became apparent. Recommendations for future evaluation studies include: clear definition of target user group, adequate selection of subjects, inclusion of other assistive mobility devices for comparison, evaluation of the habitual use of advanced prototypes, adequate assessment strategy with established, standardized and validated methods, and statistical analysis of study results. Assessment strategies may additionally focus on specific functionalities of the robotic rollators allowing an individually tailored assessment of innovative features to document their added value.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Evaluation Studies of Robotic Rollators by the User Perspective: A Systematic Review

Werner

Ullrich²,

Geravand³

et al. 2016

Gerontology

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“…Some remarkable research results of walking assistance robots have been achieved by researchers, according to the different methods of walking assistance, the current walking assistance robots can be classified into several types, such as robotic walker [3,4], walking assistance exoskeleton [5,6], and intelligent walking cane [7,8]. In order to expand the function of intelligent walking assistance equipment, some researchers proposed multifunctional walking assistance robots.…”

Section: Introductionmentioning

confidence: 99%

Design of foot-wheel cooperation walking assistance robot and control method for human-robot coordination movement

Li,

Liu,

Yan

et al. 2023

J. Phys.: Conf. Ser.

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To meet the walking demand of people who is less able to exercise, a foot-wheel cooperation walking assistance robot is designed, a control method of human-robot coordination movement is proposed, and then the walking on-the-wheel system is realized. Firstly, the structure of the foot-wheel cooperation walking assistance robot is designed, the kinematics of human lower limbs is analyzed, and the movement relationship between the foot system and wheel system is established. Secondly, the control methods of the foot system and wheel system are studied respectively, composite control method is used to realize the function that the motion of the human foot is followed by the pedal. Based on the user’s walking information and the motion relationship between the foot system and the wheel system, the coordinated motion control of the foot system and the wheel system is realized. Finally, an experimental prototype of foot-wheel cooperation walking assistance robot is developed, then the foot-wheel cooperation walking assistance experiment is completed. Experimental results show that the function of walking on the wheeled system can be realized by the proposed human-robot coordination movement method.

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“…At present, the walkers are usually capable of identification of user's motion intention by sensors [18][19][20], In general, the human motion intention recognition tasks of a mobile aid could be divided into three steps: 1) Human detection via sensors, such as mechanical sensors and optical sensors; 2) Interactive signal processing; 3) Human motion state/intention estimation. For instance, the active robotic walker JARoW developed by Japan Advanced Institute of Science and Technology fulfills the functionalities of man-machine interaction via two infrared sensors, and estimate the walking state via the observation of shin distance [21]. To realize natural gait, pelvic motion module has been designed, such as the balance assessment robot (BAR) can control the haptic interaction by two force sensors, four servo motors and two spherical hinges [22].…”

Section: Introductionmentioning

confidence: 99%

Design and Control of an Omni-Directional Robotic Walker Based on Human–Machine Interaction

Chen

Wang

et al. 2021

IEEE Access

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A cornerstone of the rehabilitative regime for people diagnosed with dyskinesia is walking assist and gait training, however, prolonged care, provided by relatives or professionals, serves as a massive financial burden to patients. The proposed novel robotic walker seeks to address this concern. The walker incorporates human motion intention recognition to facilitate lower limb rehabilitation training and daily walking. The walker design places strong emphasis on patient safety and quality of life by providing omnidirectional walking assist, four key pelvic motions that support hip rotations and comfortable body weight support (BWS). Additionally, five sensors were installed to identify the user's motion intention from the interaction forces surrounding the pelvis and dead zone. Furthermore, Kalman filtering was used to guarantee the quality of the interactive signal while kinematic and dynamic models were derived to generate appropriate driving velocities to support patient's body weight and improve mobility. To validate our design, MATLAB simulations and exploratory clinical trials using healthy subjects were performed. Preliminary results demonstrate satisfactory kinematic performance and suggest the walker as a promising therapeutic avenue for individuals suffering from dyskinesia and other associated movement disorders.

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Walking Intent-Based Movement Control for JAIST Active Robotic Walker

Cited by 59 publications

References 27 publications

Evaluation Studies of Robotic Rollators by the User Perspective: A Systematic Review

Evaluation Studies of Robotic Rollators by the User Perspective: A Systematic Review

Design of foot-wheel cooperation walking assistance robot and control method for human-robot coordination movement

Design and Control of an Omni-Directional Robotic Walker Based on Human–Machine Interaction

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