Power-assisted walking support system for elderly

Nemoto, Yasuhiro; Egawa, Saku; Koseki, Atsushi; Hattori, Shunichi; Ishii, Takeshi; Fujie, Masakatsu G.

doi:10.1109/iembs.1998.745229

Cited by 61 publications

(24 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…노인 및 장애인을 위 한 보행보조기에 대한 연구는 크게 노인들이 보행 보조기의 차량의 제어를 원활하게 수행할 수 있도록 고안된 센서를 개발하는 기술 [3][4][5][6]과 차량을 안정적으로 제어할 수 있는 차량 이동 기술 [7][8][9][10][11], 그리고 노인들이나 장애인들이 가지 고 있는 순발력의 어려움 등을 해결하기 위한 장애물 회피 기술 [1,[12][13] [14]. 그림 4는 차량의 Ackman 구동을 이용하였을 때의 회전중심을 나타내며 식 (2),(3)은 이때의 차량 바퀴의 속도를 나타낸다.…”

Section: 서 론unclassified

Vibration Reduction Algorithm at the Walking-will Recognition Sensor on Uneven Terrain

Lee¹,

Kong²,

Goh³

et al. 2011

Journal of Korean Institute of Intelligent Systems

View full text Add to dashboard Cite

This paper presents the vibration reduction algorithm at the walking-will recognition sensors on the uneven terrain. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Especially, vibration analysis and impulse reduction are one of the important elements of the active-type walking aid during moving on the outdoor area because the ground has many kinds of obstacles such as speed dumps, puddles and so on. So, we analyze the influence from vibration by uneven terrain. And then, we propose the impulse reduction algorithm to overcome the vibration. All the processes are verified experimentally in an active-type walking aid.

show abstract

Section: 서 론unclassified

Vibration Reduction Algorithm at the Walking-will Recognition Sensor on Uneven Terrain

Lee¹,

Kong²,

Goh³

et al. 2011

Journal of Korean Institute of Intelligent Systems

View full text Add to dashboard Cite

show abstract

“…System [1], 아일랜드에서 개발된 PAM-AID [2], 미국 Canegie Mellon 대학에서 개발한 Robotic Walker [3], 혼다 사에서 개발된 Walking Assist Device [4]등이 있다. 이들 보행보조기는 크게 휠 구동형 보행보조기와 다리 장착형 보 행보조기로 구분지을 수 있다.…”

Section: 서 론unclassified

A Study on the Control Algorithm for Active Walking Aids by Using Torque Estimation

Kong¹,

Lee²,

Lee³

et al. 2010

Journal of Korean Institute of Intelligent Systems

View full text Add to dashboard Cite

This paper presents the control algorithm of active walking aids estimating external torque of the wheels from user's will. Nowadays, interest of the walking aids is increased according to the increase in population of elder and handicapped person. Although many walking aids are developed, most of walking aids don't have any actuators for its movement. However, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to precision control of walking will during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose control algorithm of walking aids by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Finally, walking aids are controlled by these data. Here, all the processes are verified by simulation.

show abstract

“…This is the basic principle of power assistance. Note that almost similar approaches had been already used for the elderly's walking support (Nemoto & M. Fujie (1998);Yu et al (2003)), since our robot can be used both by the elderly/disabled and the caregiver, the approach is extended to the caregiver's power assistance.…”

Section: Admittance Based Interaction Control For Power Assistancementioning

confidence: 99%

“…Guidecane ( (Ulrich & Borenstein, 2001)), PAM-AID ( (Lacey & Dawson-Howe, 1998)), Care-O-bot ( (Graf et al, 2004)), PAMM ((S. Dubowsky, 2000)), and etc, are developed for intelligent walking support and other tasks for the elderly or the disabled. Mainly for the elderly's walking support, a robotic power-assisted walking support system is developed (Nemoto & M. Fujie, 1998). The system is to support the elderly needing help in standing up from the bed, walking around, sitting down for rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

Walking Support and Power Assistance of a Wheelchair Typed Omnidirectional Mobile Robot with Admittance Control

Zhu¹,

Oda²,

Yu³

et al. 2011

Mobile Robots - Current Trends

View full text Add to dashboard Cite

Power-assisted walking support system for elderly

Cited by 61 publications

References 1 publication

Vibration Reduction Algorithm at the Walking-will Recognition Sensor on Uneven Terrain

Vibration Reduction Algorithm at the Walking-will Recognition Sensor on Uneven Terrain

A Study on the Control Algorithm for Active Walking Aids by Using Torque Estimation

Walking Support and Power Assistance of a Wheelchair Typed Omnidirectional Mobile Robot with Admittance Control

Contact Info

Product

Resources

About