Control of an omnidirectional walking support walker by forearm pressures

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

doi:10.1109/IEMBS.2011.6091842

Control of an omnidirectional walking support walker by forearm pressures

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

^*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語	English
ホスト出版物のタイトル	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ページ	7466-7469
ページ数	4
DOI	https://doi.org/10.1109/IEMBS.2011.6091842
出版ステータス	Published - 2011
イベント	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA 継続期間: 2011 8月 30 → 2011 9月 3

Other

Other	33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
City	Boston, MA
Period	11/8/30 → 11/9/3

ASJC Scopus subject areas

コンピュータビジョンおよびパターン認識
信号処理
生体医工学
健康情報学

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10.1109/IEMBS.2011.6091842

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引用スタイル

Jiang, Y, Wang, S, Ishida, K, Ando, T & Fujie, MG 2011, Control of an omnidirectional walking support walker by forearm pressures. in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6091842, pp. 7466-7469, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011, Boston, MA, 11/8/30. https://doi.org/10.1109/IEMBS.2011.6091842

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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.",

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AU - Jiang, Yinlai

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AU - Ishida, Kenji

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AU - Fujie, Masakatsu G.

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N2 - 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.

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

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