Gait Adaptable Human-Robot Interaction System and its Application to a Robotic Walker

Reimagining robotic walkers for real-world outdoor play environments with insights from legged robots: a scoping review

“…A novel humanrobot interaction system (wang 2018) [41] Adults with mobility needs and upper limb weakness This walker is a mobile device with 2 motordriven wheels and 2 universal wheels. A handle is installed on the top of the walker.…”

“…in the home, at a retirement center). Wang et al [41] developed a human-robot interaction system for human walking companion based on force sensing. Their device was developed for elderly adults with mobility needs that lack upper limb strength.…”

“…All studies reviewed had some type of performance evaluation study completed where the number of subjects enrolled ranged from 1 to 44 and consisted of non-disabled subjects only [41,[44][45][46]49,51], disabled subjects only [40,42,52], or a mixture of disabled and non-disabled subjects [34,43,47,50,56]. Evaluation tasks required subjects to walk at different walking speeds over a variety of surfaces while their interaction forces and various gait kinematic parameters were measured.…”

“…Four robotic walkers were assessed on flat surfaces with non-disabled subjects with the aim of evaluating their control strategies for assisted walking and navigation using interaction forces, path accuracy, or # of steps. Five non-disabled subjects were recruited for the evaluation of the Novel Human-Robot Interaction System [41].…”

“…Navigation was tested with 3 different SLAM algorithms to determine the best algorithm with the least divergence from the desired x-position. Since these walkers were only tested on flat surfaces and with only non-disabled users, it is difficult to determine the generalization of these four robotic walkers' [41,44,46,49] structure and control algorithms, to walking over uneven surfaces or to disabled users.…”