Development of the Walking Assistant Robot for the Elderly

Shim, Hyeon-Min; Ryu, Je Goon; Kwon, Oh Sang; Lee, Eung Hyuk; Min, Hong Ki; Hong, Seung Hong

doi:10.1007/978-3-540-36841-0_760

Cited by 2 publications

(3 citation statements)

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“…With increases of stroke, sports injures, disabilities and advances in technology, lower limb rehabilitation robots has become very popular [1], which involves navigating [2], positioning [3], biological information recognition [4], rehabilitation training [5], and other researches [6][7]. Unfamiliar environments, different venues could increase joy of rehabilitation training and stimulate hope of life, however, which will heavily rely on the navigating and positioning.…”

Section: Introductionmentioning

confidence: 99%

Realization of Autonomous Mapping and Path Planning in a Lower Limb Rehabilitation Robot Moving Platform

Ma¹,

Ke²,

Fu³

et al. 2020

dtcse

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Map construction is a key technique for the indoor navigation and positioning, which is widely used in the robot mobile platform. This paper has designed and realized an autonomous mapping and path planning method for the lower limb rehabilitation robot moving platform. The method is completed by a Python program and functional packages in ROS. Simulations in Gazebo environment are carried out and the experiments oriented to the real scenarios are also presented. It is proved that the proposed method is very effective.

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Section: Introductionmentioning

confidence: 99%

Realization of Autonomous Mapping and Path Planning in a Lower Limb Rehabilitation Robot Moving Platform

Ma¹,

Ke²,

Fu³

et al. 2020

dtcse

View full text Add to dashboard Cite

show abstract

“…Later, robotic technology is introduced to extend the walkers' function. A lot of intelligent walkers are designed by researchers from all over the world to service the elderly, such as PAM-AID (Lacey et al, 1998(Lacey et al, , 2000, the walking support system developed by Nemoto et al (1998) from Hitachi Ltd, PAMM from Massachusetts Institute of Technology (Dubowsky et al, 2000), Pearl (Pollack et al, 2002) of University of Michigan, XR4000 (Morris et al, 2003) of Carnegie Mellon University, the Walking Helper and the RT Walker (Hirata et al, 2003(Hirata et al, , 2005, Walker developed by University of Virginia (Wasson et al, 2003), WAR proposed by Inha University (Shim et al, 2005(Shim et al, , 2007, iWalker from University of Toronto (Kulyukin et al, 2008) and JAIST Robotic Walker (Lee et al, 2010(Lee et al, , 2011 The current issue and full text archive of this journal is available at www.emeraldinsight.com/0143-991X.htm from Japan Advanced Institute of Science and Technology. With powered traction, those smart walkers are much easier for the frail elderly to use.…”

Section: Introductionmentioning

confidence: 99%

“…A forward push on both the handle bars results in a forward motion, while a differential push-pull combination results in a rotary motion, which is in accord with the user's preconceived notion. The walking support system of Hitachi Ltd (Nemoto et al, 1998), WAR of Inha University (Shim et al, 2005(Shim et al, , 2007, Walkmate I and II (Shi et al, 2010;Zhang et al, 2011) also adapt this method: two force sensors are utilized to detect the applied pushing/ pulling forces. Walker developed by University of Virginia (Wasson et al, 2003) uses two six-DOF force/moment sensors and a digital motion capture system to infer the relations between applied forces/moments and the intent of the user.…”

Section: Introductionmentioning

confidence: 99%

Motion control of walking assistant robot based on comfort

Tang

Cao

2012

Industrial Robot

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Purpose -A walking assistant robot can help elderly people walk around independently, which could improve the life quality of the elderly and benefit our aging society. Ensuring the elderly person's walking comfort with such a robot is very important. At present, the majority of walking assistant robot research does not focus on this field. The purpose of this paper is to examine the requirements of comfortable walking and outline the design of a motion control algorithm for a walking assistant robot, Walkmate III, based on comfort. Design/methodology/approach -During walking, the walking assistant robot should be able to capture the intent of user, guide the user and move at the same pace as the user. Usually, force or haptic interface is used to detect the user's walking intention. The motion control system then transforms the forces applied by the user into the robot's motion. By surveying the elderly people at a nursing home, the authors find that this transformation is important to the walking comfortableness and should be carefully designed. In this paper, the model of walking assisting process with such kind of walking assistant robot is derived at first. Based on this model, a new motion control algorithm is then designed. Findings -The elderly hoped that, in all topographic conditions, only small forces were needed to drive the walker during walking. Also, good maneuverability was also very important for a walker, to offer the user comfort, which meant the walking assistant robot should be able to respond to the input forces quickly and precisely. Currently widely-used motion control algorithms cannot satisfy all those requirements. In this paper, a new motion control algorithm is proposed, which can get a fast and precise response to the input forces and the input forces needed to drive the robot are kept at a preferred small level, so that the user will not feel tired during walking. Furthermore, by modifying, force feedback can be realized to improve the comfortableness of walking. Practical implications -The availability of walking assistant robot with improved walking comfortableness might encourage a wider adoption of robotics in our daily life. It could also benefit our aging society by improving the life quality of the elderly and reducing the pressure deriving from nursing labor shortages. Originality/value -This paper is of value to engineers and researchers developing walking assistant robots for the elderly people.

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Development of the Walking Assistant Robot for the Elderly

Cited by 2 publications

References 3 publications

Realization of Autonomous Mapping and Path Planning in a Lower Limb Rehabilitation Robot Moving Platform

Realization of Autonomous Mapping and Path Planning in a Lower Limb Rehabilitation Robot Moving Platform

Motion control of walking assistant robot based on comfort

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