Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1"

Takeshi Ando; Yu Ogawa; Yasutaka Nakashima; Eiichi Ohki; Yo Kobayashi; Misato Nihei; Masakatsu G. Fujie

doi:10.1109/ICRA.2011.5979951

Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1"

Takeshi Ando^*, Yu Ogawa, Yasutaka Nakashima, Eiichi Ohki, Yo Kobayashi, Misato Nihei, Masakatsu G. Fujie

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We have been developing the new personal mobility aid, "Tread-Walk 1," which is controlled by the driver's walking pace and amplifies walking velocity. The Tread-Walk 1 not only assists mobility but also helps the elderly maintain their physical abilities. However, the turning movement of the Tread-Walk is likely to be unstable, because the Tread-Walk is controlled by walking. In this paper, we focus on the stable turning movement of the Tread-Walk 1. First, we simulate the centrifugal force applied to the driver, which was not considered in our previous report. Then, a new algorithm to realize stable turning movement is established by measuring the driver's standing position. Finally, the developed algorithm for the turning movement of the Tread-Walk 1 is evaluated by measuring the handle grasping time. With the new algorithm, the Tread-Walk 1 turned steadily and driver did not lose their balance.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	4157-4162
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2011.5979951
Publication status	Published - 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai Duration: 2011 May 9 → 2011 May 13

Other

Other	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
City	Shanghai
Period	11/5/9 → 11/5/13

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/ICRA.2011.5979951

Cite this

Ando, T, Ogawa, Y, Nakashima, Y, Ohki, E, Kobayashi, Y, Nihei, M & Fujie, MG 2011, Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1". in Proceedings - IEEE International Conference on Robotics and Automation., 5979951, pp. 4157-4162, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, 11/5/9. https://doi.org/10.1109/ICRA.2011.5979951

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abstract = "We have been developing the new personal mobility aid, {"}Tread-Walk 1,{"} which is controlled by the driver's walking pace and amplifies walking velocity. The Tread-Walk 1 not only assists mobility but also helps the elderly maintain their physical abilities. However, the turning movement of the Tread-Walk is likely to be unstable, because the Tread-Walk is controlled by walking. In this paper, we focus on the stable turning movement of the Tread-Walk 1. First, we simulate the centrifugal force applied to the driver, which was not considered in our previous report. Then, a new algorithm to realize stable turning movement is established by measuring the driver's standing position. Finally, the developed algorithm for the turning movement of the Tread-Walk 1 is evaluated by measuring the handle grasping time. With the new algorithm, the Tread-Walk 1 turned steadily and driver did not lose their balance.",

author = "Takeshi Ando and Yu Ogawa and Yasutaka Nakashima and Eiichi Ohki and Yo Kobayashi and Misato Nihei and Fujie, {Masakatsu G.}",

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AU - Ando, Takeshi

AU - Ogawa, Yu

AU - Nakashima, Yasutaka

AU - Ohki, Eiichi

AU - Kobayashi, Yo

AU - Nihei, Misato

AU - Fujie, Masakatsu G.

PY - 2011

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N2 - We have been developing the new personal mobility aid, "Tread-Walk 1," which is controlled by the driver's walking pace and amplifies walking velocity. The Tread-Walk 1 not only assists mobility but also helps the elderly maintain their physical abilities. However, the turning movement of the Tread-Walk is likely to be unstable, because the Tread-Walk is controlled by walking. In this paper, we focus on the stable turning movement of the Tread-Walk 1. First, we simulate the centrifugal force applied to the driver, which was not considered in our previous report. Then, a new algorithm to realize stable turning movement is established by measuring the driver's standing position. Finally, the developed algorithm for the turning movement of the Tread-Walk 1 is evaluated by measuring the handle grasping time. With the new algorithm, the Tread-Walk 1 turned steadily and driver did not lose their balance.

AB - We have been developing the new personal mobility aid, "Tread-Walk 1," which is controlled by the driver's walking pace and amplifies walking velocity. The Tread-Walk 1 not only assists mobility but also helps the elderly maintain their physical abilities. However, the turning movement of the Tread-Walk is likely to be unstable, because the Tread-Walk is controlled by walking. In this paper, we focus on the stable turning movement of the Tread-Walk 1. First, we simulate the centrifugal force applied to the driver, which was not considered in our previous report. Then, a new algorithm to realize stable turning movement is established by measuring the driver's standing position. Finally, the developed algorithm for the turning movement of the Tread-Walk 1 is evaluated by measuring the handle grasping time. With the new algorithm, the Tread-Walk 1 turned steadily and driver did not lose their balance.

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Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1"

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