Sensor fusion to control a robotic walker based on upper-limbs reaction forces and gait kinematics

Abstract

This work proposes the implementation and validation of a new sensor fusion strategy based on force sensors and LRF (Laser Range Finder) to control a robotic walker. This approach combines user information about forearm reaction forces and gait kinematics from the legs scanning localization, to develop a more natural, safer and adaptable human-walker interaction. The work was carried out in four phases. First, a robotic walker platform was developed and the sensor subsystems were integrated. Second, a sensor fusion strategy to obtain the control parameters are defined. Third, the control strategy is presented. Finally, an experimental study to evaluate the sensor architecture and control was developed. One of the advantages of the humanwalker interaction here proposed is the computational efficiency. The sensor processing algorithms and the control strategy are executed in real-time, showing stable performance with human speed changes.

Wearable Robotic Walker for Gait Rehabilitation and Assistance in Patients with Cerebral Palsy

“…1 respectively. This information is used for the user velocity estimation (v h ) as it was presented in [5,6].…”

“…The model for human-robot locomotion for smart hands-free walkers is presented in Fig. 2 which is a modification of the model for rollator walkers [6]. The control proposal aims to achieve a desired leg position (dd), which corresponds to a bilateral foot contact with the floor (double support).…”

“…The main objective of this work is to present a Human-Robot interaction strategy for robotic-based overground rehabilitation as novel therapy for CP rehabilitation. Such strategy is based on previous works [5,6]. In this work, the Human-Robot interaction strategy for robotic walkers is modified and implemented in a new Wearable Robotic Walker named CPWalker, which integrates a smart walker along with a passive lower-limb exoskeleton.…”

Human-Robot interaction strategy for overground rehabilitation in patients with Cerebral Palsy

“…However, the incorporation of motors to control walker's motion and the development of Human-Robot Interfaces (HMI) to interpret the user's commands may allow safer human-walker mobility. Walker devices that incorporate such subsystems are called Smart Walkers [4], [5].…”

“…The main objective of this work is to present a Human-Robot interaction strategy for robotic-based overground rehabilitation as novel therapy for CP rehabilitation. Such strategy is based on previous works [4], [5]. In this work, the Human-Robot interaction strategy for robotic walkers is modified and implemented in a new robotic platform named CPWalker, which integrates a smart walker along with a passive lower-limb exoskeleton.…”