Adaptive guidance system design for the assistive robotic walker

Lu, Cheng-Kai; Huang, Yi-Che; Lee, Cheng-Jung

doi:10.1016/j.neucom.2015.03.091

Cited by 29 publications

(21 citation statements)

References 26 publications

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“…For instance, the approach developed by Ye et al [42] includes a width changeable walker that adapts to the user’s intentions and environment constraints. Likewise, some REI interfaces have been presented in [45,46,47]. These approaches intend to assess the environment information to adapt their control strategies.…”

Section: Related Workmentioning

confidence: 99%

Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

Garzón

Múnera

et al. 2019

Sensors

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The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic technologies. In this sense, this paper presents the development and implementation of a human–robot–environment interface on a robotic platform that emulates a smart walker, the AGoRA Walker. The interface includes modules such as a navigation system, a human detection system, a safety rules system, a user interaction system, a social interaction system and a set of autonomous and shared control strategies. The interface was validated through several tests on healthy volunteers with no gait impairments. The platform performance and usability was assessed, finding natural and intuitive interaction over the implemented control strategies.

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Section: Related Workmentioning

confidence: 99%

Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

Garzón

Múnera

et al. 2019

Sensors

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“…The research context of this study was healthcare, a field that has been shaped by strong traditions but faces strong pressure to renew. Factors such as digitalisation, changing work environments, the economic recession, and shortages of physicians and nurses pose significant challenges to healthcare organisations (Aiken et al, 2014;Alameddine et al, 2012;Lu, 2015 (Dyck, 2006;Ramanujanam and Rousseau, 2006;Swensen et al, 2016).…”

Section: Research Context and Methodologymentioning

confidence: 99%

The emergence of sensemaking through socio-material practices

Jansson

Lunkka

Suhonen

et al. 2019

JOCM

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Purpose The purpose of this paper is to increase understanding of how sensemaking occurs as a holistic, processual phenomenon during an organisational change. Design/methodology/approach A longitudinal, qualitative case study was conducted by analysing video-recorded meetings among the staff of two recently merged surgical departments in a university hospital. Sensemaking was approached through the lens of socio-material practices. Findings The analysis revealed that material-discursive practices produce sensemaking in various ways, creating a holistic process and a dynamic agency. Four sensemaking practices were identified through which personnel made sense of the development of ward inpatient rounding: facilitated meetings, a status board, video analysis and humour. Originality/value This paper identifies diverse sensemaking practices, each of which increases understanding of sensemaking as a holistic, processual phenomenon that emerges through socio-material practices. The paper also enhances practical understanding of how sense is made of a working practice, as well as how a working practice is developed and improved during an organisational change.

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“…Considering the human-robot interactive force in the direction of the movement to estimate HMI, [ 10 ] presented a control system of an omnidirectional-type cane robot. Lu [ 18 ] designed novel low cost and highly reliable force-sensing handles for measuring the user’s applied force. Furthermore, he also designed an intelligent learning scheme to derive the proper driving force from the measured grip force to obtain HMI.…”

Section: Related Workmentioning

confidence: 99%

A Novel Coordinated Motion Fusion-Based Walking-Aid Robot System

Huang

Cheng

2018

Sensors

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Human locomotion is a coordinated motion between the upper and lower limbs, which should be considered in terms of both the user’s normal walking state and abnormal walking state for a walking-aid robot system. Therefore, a novel coordinated motion fusion-based walking-aid robot system was proposed. To develop the accurate human motion intention (HMI) of such robots when the user is in normal walking state, force-sensing resistor (FSR) sensors and a laser range finder (LRF) are used to detect the two HMIs expressed by the user’s upper and lower limbs. Then, a fuzzy logic control (FLC)-Kalman filter (LF)-based coordinated motion fusion algorithm is proposed to synthesize these two segmental HMIs to obtain an accurate HMI. A support vector machine (SVM)-based fall detection algorithm is used to detect whether the user is going to fall and to distinguish the user’s falling mode when he/she is in an abnormal walking state. The experimental results verify the effectiveness of the proposed algorithms.

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Adaptive guidance system design for the assistive robotic walker

Cited by 29 publications

References 26 publications

Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

The emergence of sensemaking through socio-material practices

A Novel Coordinated Motion Fusion-Based Walking-Aid Robot System

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