Real time control of the ASBGo walker through a physical human–robot interface

Abstract

In this work it is presented the development of the conceptual design, implementation and validation of a Smart walker with an inexpensive integrated interface. This interface is based on a joystick and it intends to extract the user's command intentions. Preliminary sets of experiments were performed which showed the sensibility of the joystick to extract navigation commands from the user. These signals presented a higher frequency component that was attenuated by a Benedict-Bordner g-h filter. The resulting interaction signals are then classified and converted into motor commands through a fuzzy logic controller. Additionally, the detection of possible falls and instability of the user was also one of the aims integrated onto the overall system architecture. Results have shown that the resultant movement of the walker was constant and safe without bumps. Short enquiries to the users have provided positive feedback about the device maneuverability in terms of easiness to use.

D2-2 Smart Walkers from an Ergonomics Perspective: A Review

“…Many controllers have been proposed, based on various measurable parameters. For example, JARoW continuously matches its center to the center of its user's legs while ASBGo translates force in its handles to velocity (Lee et al, 2014;Martins et al, 2014). However, it is not known how well these SW prototypes achieve the four aspects discussed herein.…”

Rehabilitation for Spinocerebellar Ataxia

“…Conversely, because a walker does not require much coordinated movement of the upper limbs, technology-based walkers are being developed. Recently, a smart walker for mobility assistance and monitoring system aid, ASBGo, was developed and reported to improve gait parameters and postural stability in patients with SCA [114,115]. In addition to technology, some studies on walking assistance using dogs and handkerchiefs have also been reported.…”

Development Of A Rehabilitation Mobility Assistive Device

“…This is a mechanical design based on the imitation of the caregivers' motion during the support task, which is mainly composed of back support, a robot arm and an active walker. Bauzel et al [4,5] analyzed current research on smart walkers and proposed three required significant features: provide dynamic support, demand little or no effort to use, be user-friendly. Also, a new user interface which allows users to control the walker intuitively was designed and implemented on a ASBGO walker, which is an active robotic walker that assists the elderly and disabled people in walking.…”