Motion Control and Fall Prevention for an Active Walker Mobility Aid

Irgenfried, Stephan; Wörn, Heinz

doi:10.1007/978-94-007-7485-8_20

Cited by 6 publications

(4 citation statements)

References 3 publications

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“…Irgenfried et al [14] developed a device that uses a 6Dforce/torque sensor (FTS) for connecting the walker with the handlebar. A mathematical model of the body was used to help identify possible fall situations in FTS signal.…”

Section: B Search Resultsmentioning

confidence: 99%

A Survey of Fall Prevention Systems Implemented on Smart Walkers

Pereira

Ribeiro

Santos

2019

2019 IEEE 6th Portuguese Meeting on Bioengineering (ENBENG)

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A large number of people die around the world in consequence of a fall. The costs related to fatal and nonfatal falls have an enormous impact on society and have been growing over the years. There are several risk factors that increase the probability of falling, such as poor balance and lower extremity weakness. Patients with balance impairment, in order to overcome these problems, use walkers. The aim of this work is to do an analysis of the fall-related strategies already implemented in a smart walker. Therefore, an online search was performed based on the literature through Scopus and Web of Science databases. A study was also conducted on a commercial level on Google, as well as a patent review on Espacenet and United States Trademark Office. It was possible to conclude that exist a concern related to the development of an approach to prevent the fall event. However, the only implemented strategy that was found throughout this research consists in stopping the walker when a near fall is detected.

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Section: B Search Resultsmentioning

confidence: 99%

A Survey of Fall Prevention Systems Implemented on Smart Walkers

Pereira

Ribeiro

Santos

2019

2019 IEEE 6th Portuguese Meeting on Bioengineering (ENBENG)

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“…This paper addresses the usability aspects of the Mobility Aid for Handicapped Persons "MAID" and extends the work presented in [3] and [4]. components, physiological support functions and the active fall prevention, we refer the reader to [3] and [4]. The remainder of the paper is organized as follows: After describing related work and approaches taken by other researchers, we describe the theoretical background for our choice of input-and output modalities as basis of our implementation.…”

Section: Introductionmentioning

confidence: 95%

“…Together with the hardware or software buttons to switch operating modes, the main haptic interface between the machine and the user are handle bars connected to the machine body with a 6D force torque sensor to turn user commands into system motion and to provide an active fall prevention. This paper addresses the usability aspects of the Mobility Aid for Handicapped Persons "MAID" and extends the work presented in [3] and [4]. components, physiological support functions and the active fall prevention, we refer the reader to [3] and [4].…”

Section: Introductionmentioning

confidence: 97%

A multimodal human machine interface for a robotic mobility aid

Schneider

Stork

Irgenfried

et al. 2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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This paper presents design, implementation details and field trial results for a multimodal human machine interface for a robotic walking and sit-to-stand transfer assisting device with force-torque-sensor, user intention detection and active fall prevention. Two different human machine interfaces are described, a purely haptic version with buttons only and an alternative approach using a tablet computer. It is described, how the different modalities, optimized for the target user group of elderly persons, make the interaction with the system intuitive and reduce fear of contact with such a technical system. For the tablet PC based touch sensitive interface we describe our approach to automatically track user interactions with the system for detailed analysis and user interface optimization.

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“…If the instantaneous state was outside the system stability region, the user was in the state of falling down, and then the motion of the spherical joint and omnidirectional moving base of the robot could be adjusted to ensure the stability of the system. Irgenfried and Wörn 27 used the force/moment information to judge the user’s fall state and prevent user fall by slowing down or stopping the robot’s motion.…”

Section: Introductionmentioning

confidence: 99%

Control method of elderly-assistant robot for preventing elderly fall

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The elderly are prone to fall during walking, which not only leads to injury but also can cause permanent disability or even death. Thus, it is crucial for the walking-assistant robot to prevent the elderly from fall during walking. However, the factors affecting the steadiness of the elderly are not considered comprehensively in the existing studies of elderly fall prevention model and control schemes. In this paper, a novel control method of the elderly-assistant robot for preventing elderly fall is proposed by considering the two main factors affecting steadiness of the elderly, namely, position and velocity of the center of mass. Initially, the dynamics of the robot system for preventing elderly fall are derived respectively from different elderly fall situations. Then, the elderly-assistant robot is controlled to stop at an appropriate position, and to minimize the tilt angle as small as possible to avoid overturned. The control system ensures that the position-velocity coordinates of the center of mass of the elderly reach the dynamic steadiness region which guarantees human balance. Finally, the results of the simulation and the experiments show that the proposed control method of the elderly-assistant robot can be effectively used to prevent the elderly fall during walking.

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Motion Control and Fall Prevention for an Active Walker Mobility Aid

Cited by 6 publications

References 3 publications

A Survey of Fall Prevention Systems Implemented on Smart Walkers

A Survey of Fall Prevention Systems Implemented on Smart Walkers

A multimodal human machine interface for a robotic mobility aid

Control method of elderly-assistant robot for preventing elderly fall

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