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- Publisher Website: 10.1109/ROBOT.2006.1642236
- Scopus: eid_2-s2.0-33845661594
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Conference Paper: Motion control of intelligent passive-type walker for fall-prevention function based on estimation of user state
Title | Motion control of intelligent passive-type walker for fall-prevention function based on estimation of user state |
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Authors | |
Issue Date | 2006 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 3498-3503 How to Cite? |
Abstract | In this paper, we introduce a passive-type walker using servo brakes referred to as RT Walker. RT Walker realizes several functions such as obstacles/steps avoidance function, path following function, gravity compensation function, variable motion characteristics function, etc., by controlling only servo brakes without using servo motors. These passive-type systems are dependable for using practically in real world environment, because of the passive dynamics with respect to the applied force/moment, simple structure, lightweight, and so on. However, the most serious problem of them is the falling accident of user, because the passive-type systems are lightweight and move easily based on the small force/moment applied by the user unintentionally. In this paper, we pay attention to a method for estimating the human state during the usage of the walker and propose a motion control algorithm for realizing a fall-prevention function based on its human state. We also implement the proposed control methods in RT Walker experimentally and illustrate the validity of them. ©2006 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302765 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Muraki, Asami | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:32Z | - |
dc.date.available | 2021-09-07T08:42:32Z | - |
dc.date.issued | 2006 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 3498-3503 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302765 | - |
dc.description.abstract | In this paper, we introduce a passive-type walker using servo brakes referred to as RT Walker. RT Walker realizes several functions such as obstacles/steps avoidance function, path following function, gravity compensation function, variable motion characteristics function, etc., by controlling only servo brakes without using servo motors. These passive-type systems are dependable for using practically in real world environment, because of the passive dynamics with respect to the applied force/moment, simple structure, lightweight, and so on. However, the most serious problem of them is the falling accident of user, because the passive-type systems are lightweight and move easily based on the small force/moment applied by the user unintentionally. In this paper, we pay attention to a method for estimating the human state during the usage of the walker and propose a motion control algorithm for realizing a fall-prevention function based on its human state. We also implement the proposed control methods in RT Walker experimentally and illustrate the validity of them. ©2006 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Motion control of intelligent passive-type walker for fall-prevention function based on estimation of user state | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBOT.2006.1642236 | - |
dc.identifier.scopus | eid_2-s2.0-33845661594 | - |
dc.identifier.volume | 2006 | - |
dc.identifier.spage | 3498 | - |
dc.identifier.epage | 3503 | - |