Control of an omnidirectional walking support walker by forearm pressures.

Yinlai Jiang; Shuoyu Wang; Kenji Ishida; Takeshi Ando; Masakatsu G. Fujie

Control of an omnidirectional walking support walker by forearm pressures.

Yinlai Jiang^*, Shuoyu Wang, Kenji Ishida, Takeshi Ando, Masakatsu G. Fujie

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

7 Citations (Scopus)

Abstract

We have been developing an omnidirectional walker (ODW) for walking support. In walking support, it is necessary control the ODW following the user's direction and velocity intentions. In this paper, a novel interface is proposed to recognize the user's intentions according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by 4 force sensors embedded in the ODW's armrest. The relationship between forearm pressure and user intentions was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on the distance-type fuzzy reasoning method. We conduct a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW.

Original language	English
Pages (from-to)	7466-7469
Number of pages	4
Journal	Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference
Volume	2011
Publication status	Published - 2011
Externally published	Yes

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Signal Processing
Biomedical Engineering
Health Informatics

Cite this

Control of an omnidirectional walking support walker by forearm pressures. / Jiang, Yinlai; Wang, Shuoyu; Ishida, Kenji et al.

In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Vol. 2011, 2011, p. 7466-7469.

Research output: Contribution to journal › Article › peer-review

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AU - Ishida, Kenji

AU - Ando, Takeshi

AU - Fujie, Masakatsu G.

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AB - We have been developing an omnidirectional walker (ODW) for walking support. In walking support, it is necessary control the ODW following the user's direction and velocity intentions. In this paper, a novel interface is proposed to recognize the user's intentions according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by 4 force sensors embedded in the ODW's armrest. The relationship between forearm pressure and user intentions was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on the distance-type fuzzy reasoning method. We conduct a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW.

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Control of an omnidirectional walking support walker by forearm pressures.

Abstract

ASJC Scopus subject areas

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