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- Publisher Website: 10.1109/TRO.2007.906252
- Scopus: eid_2-s2.0-35348844048
- WOS: WOS:000250177900015
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Conference Paper: Motion control of passive intelligent walker using servo brakes
Title | Motion control of passive intelligent walker using servo brakes |
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Authors | |
Keywords | Brake control Physical interaction Robot technologies (RTs) Passive robotics Intelligent walker |
Issue Date | 2007 |
Citation | IEEE Transactions on Robotics, 2007, v. 23, n. 5, p. 981-990 How to Cite? |
Abstract | We propose a new intelligent walker based on passive robotics that assists the elderly, handicapped people, and the blind who have difficulty in walking. We developed a prototype of the Robot Technology Walker (RT Walker), a passive intelligent walker that uses servo brakes. The RT Walker consists of a support frame, two casters, two wheels equipped with servo brakes, and it has passive dynamics that change with respect to applied force/moment. This system is intrinsically safe for humans, as it cannot move unintentionally, i.e., it has no driving actuators. In addition, the RT Walker provides a number of navigational features, including good maneuverability, by appropriately controlling the torque of servo brakes based on RT. We propose a human adaptive motion control algorithm that changes the apparent dynamics to adapt to user difficulties, and an environmentally adaptive motion control algorithm, which incorporates environmental information to provide obstacle/step avoidance and gravity compensation functions. The proposed control algorithms are experimentally applied to the RT Walker to test their validity. © 2007 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302796 |
ISSN | 2023 Impact Factor: 9.4 2023 SCImago Journal Rankings: 3.669 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Hara, Asami | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:36Z | - |
dc.date.available | 2021-09-07T08:42:36Z | - |
dc.date.issued | 2007 | - |
dc.identifier.citation | IEEE Transactions on Robotics, 2007, v. 23, n. 5, p. 981-990 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302796 | - |
dc.description.abstract | We propose a new intelligent walker based on passive robotics that assists the elderly, handicapped people, and the blind who have difficulty in walking. We developed a prototype of the Robot Technology Walker (RT Walker), a passive intelligent walker that uses servo brakes. The RT Walker consists of a support frame, two casters, two wheels equipped with servo brakes, and it has passive dynamics that change with respect to applied force/moment. This system is intrinsically safe for humans, as it cannot move unintentionally, i.e., it has no driving actuators. In addition, the RT Walker provides a number of navigational features, including good maneuverability, by appropriately controlling the torque of servo brakes based on RT. We propose a human adaptive motion control algorithm that changes the apparent dynamics to adapt to user difficulties, and an environmentally adaptive motion control algorithm, which incorporates environmental information to provide obstacle/step avoidance and gravity compensation functions. The proposed control algorithms are experimentally applied to the RT Walker to test their validity. © 2007 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE Transactions on Robotics | - |
dc.subject | Brake control | - |
dc.subject | Physical interaction | - |
dc.subject | Robot technologies (RTs) | - |
dc.subject | Passive robotics | - |
dc.subject | Intelligent walker | - |
dc.title | Motion control of passive intelligent walker using servo brakes | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/TRO.2007.906252 | - |
dc.identifier.scopus | eid_2-s2.0-35348844048 | - |
dc.identifier.volume | 23 | - |
dc.identifier.issue | 5 | - |
dc.identifier.spage | 981 | - |
dc.identifier.epage | 990 | - |
dc.identifier.isi | WOS:000250177900015 | - |