TY - GEN
T1 - Design and control of an intelligent walking-aid robot
AU - Han, Rui
AU - Tao, Chunjing
AU - Huang, Jian
AU - Wang, Yongji
AU - Yan, Heping
AU - Ma, Lifang
N1 - Publisher Copyright:
© 2014 Swinburne University of Technology, Australia.
PY - 2015/1/23
Y1 - 2015/1/23
N2 - An intelligent walking-aid robot is presented for walking assistance, training and rehabilitation of the elderly. The robot is intended to provide physical support and mobility aid for the old people during their walking based on recognizing their motion intentions online. A force measuring system comprised of force sensing resisters (FSRs) is designed to obtain the interaction forces between the user and the robot. The user's motion intention is then estimated by analyzing the relationship between the measured interaction forces and human intention force/torque. Further the estimated intention is used to guide the admittance based motion control of robot. To ensure a safe walking, a laser range finder (LRF) is used to detect the distance between the robot and the user's legs. A distance restraint control is also designed and taken into action when the distance is found beyond a safe threshold. Experiments were conducted and the results verified the effectiveness of the developed robot system and control methods.
AB - An intelligent walking-aid robot is presented for walking assistance, training and rehabilitation of the elderly. The robot is intended to provide physical support and mobility aid for the old people during their walking based on recognizing their motion intentions online. A force measuring system comprised of force sensing resisters (FSRs) is designed to obtain the interaction forces between the user and the robot. The user's motion intention is then estimated by analyzing the relationship between the measured interaction forces and human intention force/torque. Further the estimated intention is used to guide the admittance based motion control of robot. To ensure a safe walking, a laser range finder (LRF) is used to detect the distance between the robot and the user's legs. A distance restraint control is also designed and taken into action when the distance is found beyond a safe threshold. Experiments were conducted and the results verified the effectiveness of the developed robot system and control methods.
UR - https://www.scopus.com/pages/publications/84923401328
U2 - 10.1109/ICMIC.2014.7020727
DO - 10.1109/ICMIC.2014.7020727
M3 - 会议稿件
AN - SCOPUS:84923401328
T3 - Proceedings of 2014 International Conference on Modelling, Identification and Control, ICMIC 2014
SP - 53
EP - 58
BT - Proceedings of 2014 International Conference on Modelling, Identification and Control, ICMIC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Modelling, Identification and Control, ICMIC 2014
Y2 - 3 December 2014 through 5 December 2014
ER -