A Smart Robotic Walker With Intelligent Close-Proximity Interaction Capabilities for Elderly Mobility Safety

Abstract

The elderly population has rapidly increased in past years, bringing huge demands for elderly serving devices, especially for those with mobility impairment. Present assistant walkers designed for elderly users are primitive with limited user interactivity and intelligence. We propose a novel smart robotic walker that targets a convenient-to-use indoor walking aid for the elderly. The walker supports multiple modes of interactions through voice, gait or haptic touch, and allows intelligent control via learning-based methods to achieve mobility safety. Our design enables a flexible, initiative and reliable walker due to the following: (1) we take a hybrid approach by combining the conventional mobile robotic platform with the existing rollator design, to achieve a novel robotic system that fulfills expected functionalities; (2) our walker tracks users in front by detecting lower limb gait, while providing close-proximity walking safety support; (3) our walker can detect human intentions and predict emergency events, e.g., falling, by monitoring force pressure on a specially designed soft-robotic interface on the handle; (4) our walker performs reinforcement learning-based sound source localization to locate and navigate to the user based on his/her voice signals. Experiment results demonstrate the sturdy mechanical structure, the reliability of multiple novel interactions, and the efficiency of the intelligent control algorithms implemented. The demonstration video is available at: https://sites.google.com/view/smart-walker-hku.

Fall Detection System on Smart Walker Based on Multisensor Data Fusion and SPRT Method

“…Based on previous research, Zhao et al [31] built a smart walker with a hybrid traditional method and roller design to detect falls by detecting lower limb gait. However, they did not consider the variation of upper limbs.…”

Deep learning-based approaches for human motion decoding in smart walkers for rehabilitation

“…These devices should be able to decode human motion and needs, as early as possible, which would be essential for a seamless HRI. This would be clinically relevant since it would enable a more natural and anticipated assistance, encouraging patients to take an active role in rehabilitation exercises or therapy sessions (Zhao et al, 2020). However, the interaction entailed by motion decoding should result from the device built-in sensors in order to maximise intuitiveness and technology acceptance.…”

ROS-Based Smart Walker with Fuzzy Posture Judgement and Power Assistance

“…For examples, a passive walker is powered by the user-supplied forces with controlled brakes [ 8 , 9 , 10 ]. Recently, the walker powered by motors to steer the walker has attracted a lot of attention [ 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 ]. Patel et al [ 11 ] used an active walker as the experimental platform to exploit the interactions between an intelligent mobility aid and the human operator.…”

“…Serigo et al [ 24 ] presented a ROS-based smart walker called AGoRA walker, equipped with a sensory and actuation interface. Zhao et al [ 25 ] proposed a robotic walker to provide a convenient-to-use indoor walking aid for the elderly. The walker supports multiple modes of interaction and applies learning-based methods to achieve mobility safety.…”

“…In the vision-based approach, a camera is installed to detect the user’s movement intension [ 10 , 13 , 15 ]. On the other hand, some pressure or force sensors are mounted on the handle to detect the user’s posture [ 25 , 29 , 30 ]. For the movements like push and pull, the detection from force sensing will be more straightforward.…”