Development of Omni-directional Mobile Walker for Rehabilitation

The 6th International Conference on Soft Computing and Intelligent Systems, and the 13th International Symposium on Advanced In

et al. 2012

Self Cite

An omni-directional walker (ODW) has been developed for walking rehabilitation for people with walking disabilities. In rehabilitation, a user needs to accurately follow the reference path stored in the ODW in order to obtain good training effect. In order to improve the path tracking accuracy, a nonlinear adaptive controller was developed in pervious studies, to deal with load change and center of gravity shift caused by the user. The path tracking accuracy can be improved by adjust the parameter of the adaptive controller. In this paper, genetic algorithm is used to automatically and quickly optimize the parameters of adaptive controller. Simulation was conducted, in which the ODW was controlled to follow a linear path. The results were shown that the parameter optimization strategy is effective to quickly find the optimal parameter.

“…In next section, based on this dynamic equation (1), an adaptive controller was proposed in order to deal appropriately with the load changes and the COG shift caused by the users.…”

Section: A Structure Of Omni-directional Walkermentioning

confidence: 99%

“…In this paper, an omni-directional walker (ODW) which realizes omni directional movement is introduced to support people with walking impairments for walking rehabilitation [1]. A user follows the movement of the ODW to perform walking training.…”

mentioning

confidence: 99%

An improved adaptive controller with parameter optimization by GA for an omni-directional walker

Tan

Ishida

The 6th International Conference on Soft Computing and Intelligent Systems, and the 13th International Symposium on Advanced In

et al. 2012

Self Cite

“…Therefore, if these diverse motion groups are applied in walking rehabilitation, an early recovery can be expected. In previous studies, authors and colleagues have developed an ODW (Fig.1) and proved its effectiveness in walking rehabilitation by clinical tests [3][4]. The ODW can be used for walking support as well as walking rehabilitation because it is able to support the complex walking motions in daily life and guarantee safety during walking.…”

Section: Introductionmentioning

confidence: 99%

Adapting directional intention identification in running control of a walker to individual difference with fuzzy learning

Jiang

2010 IEEE International Conference on Mechatronics and Automation

2010

An omni-directional walker (ODW) has been developed for walking rehabilitation and walking support in the authors' previous studies. It is necessary for the ODW to know its user's directional intention according to the user's manipulation during walking support. In this paper, a novel method is proposed to recognize a user's directional intention according to his/her forearm pressures to the ODW, which are measured by sensors embedded in the ODW's armrest. First, the relationship between forearm pressure and directional intention was extracted as fuzzy rules. Second, an algorithm is proposed for directional intention identification based on distance-type fuzzy reasoning method (DTFRM). Furthermore, fuzzy learning is introduced to adapt directional intention identification to the individual difference in forearm pressures. The experiment results show that the reasoning results of the proposed method are consistent with the intended directions, and that fuzzy learning can reduce the reasoning errors caused by individual difference.

Section: Introductionmentioning

confidence: 99%

Directional intention identification for running control of an omni-directional walker

Jiang

International Conference on Fuzzy Systems

2010

Walking is a vital exercise for health promotion and a fundamental ability necessary for everyday life. In the authors' previous studies, an omni-directional walker (ODW) has been developed for walking rehabilitation and walking support. In the case of walking support, it is necessary for the ODW to know which direction its user is intending to go according to the user's manipulation. However, since the directional intention and physical manipulation of a user are not always consistent with each other, it is an important subject to identify the real directional intention from physical manipulation. In this paper, a method is proposed to recognize a user's directional intention according to the pressures, which are measured by sensors embedded in the ODW's armrest, from the user's forearms. Firstly, the relationship between forearm pressure and directional intention was extracted as fuzzy rules. Then an algorithm is proposed for directional intention identification based on Distance-Type Fuzzy Reasoning Method (DTFRM). Finally, the effectiveness of the algorithm is verified by experiments, which show that reasoning results are consistent with the intended directions.