Adaptive controller for motion control of an omni-directional walker

A review of the functionalities of smart walkers

“…Other options are to include walker training programs in the SW, like in Tan et al [17]. The walker has to precisely follow the paths defined in the walking training programs to guarantee the effectiveness of rehabilitation.…”

“…However, as previously mentioned, such situations have a great probability to occur. Also, some of these navigation and obstacle avoidance systems were not tested in complex environments full of obstacles nor long courses [8,17,22,24] and others have local minima problems [6] and present oscillations in narrow passages [16].…”

“…This can be achieved with the implementation of algorithms such as potential fields, like ORTW-II [16] and Graf [24][25], adaptive control model, such as Tan et al [17], Clean Sweep obstacleavoidance algorithm, like GUIDO [8] and VFH+ model, and like in PAMM [6,9].…”

“…Many studies [6,[8][9]12,[16][17][18][19][20][21][22][23][24][25][26][27][28][29]58] addressed this functionality in different ways.…”

A systematic review of study results reported for the evaluation of robotic rollators from the perspective of users

“…More specifically, they may cover robotic functionalities that focus on gait assistance [17], sit-to-stand (STS) transfer [18][19][20], partial body weight support (BWS) [21,22], obstacle avoidance [23][24][25], navigation assistance [26][27][28], and/or fall prevention [29,30]. A more detailed survey of the various high-tech functionalities of RRs can be found in Martins et al [31,32].…”