Active type robotic mobility aid control based on passive behavior

Oscar Chuy Jr.; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/IROS.2007.4399408

Active type robotic mobility aid control based on passive behavior

Oscar Chuy Jr.
, Yasuhisa Hirata
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

13 Citations (Scopus)

Abstract

This paper proposes a motion control algorithm for an active type of robotic mobility aid based on passive behavior concept. Passive behavior is an important characteristic of a system that provides mobility to elderly or person with walking disability. It allows the user to control the system based on intention. Passive behavior is implemented using imposed desired dynamics, which represents the actual behavior of passive system. This approach uses user intention represented by applied force/torque to derive the mobility aid desired motion. In addition, a guideline in parameter selection of the desired dynamics is also presented. This guideline is used to ensure the stability of the active robotic mobility aid with passive behavior. Experimental results are presented to show the validity of the proposed control method. ©2007 IEEE.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	165-170
DOIs	https://doi.org/10.1109/IROS.2007.4399408
Publication status	Published - 2007
Externally published	Yes
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 29 Oct 2007 → 2 Nov 2007

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Place	United States
City	San Diego, CA
Period	29/10/07 → 2/11/07

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Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

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title = "Active type robotic mobility aid control based on passive behavior",

abstract = "This paper proposes a motion control algorithm for an active type of robotic mobility aid based on passive behavior concept. Passive behavior is an important characteristic of a system that provides mobility to elderly or person with walking disability. It allows the user to control the system based on intention. Passive behavior is implemented using imposed desired dynamics, which represents the actual behavior of passive system. This approach uses user intention represented by applied force/torque to derive the mobility aid desired motion. In addition, a guideline in parameter selection of the desired dynamics is also presented. This guideline is used to ensure the stability of the active robotic mobility aid with passive behavior. Experimental results are presented to show the validity of the proposed control method. {\textcopyright}2007 IEEE.",

author = "\{Chuy Jr.\}, Oscar and Yasuhisa Hirata and Kazuhiro Kosuge",

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language = "English",

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Chuy Jr., O, Hirata, Y & Kosuge, K 2007, Active type robotic mobility aid control based on passive behavior. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399408, IEEE International Conference on Intelligent Robots and Systems, pp. 165-170, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 29/10/07. https://doi.org/10.1109/IROS.2007.4399408

Active type robotic mobility aid control based on passive behavior. / Chuy Jr., Oscar; Hirata, Yasuhisa; Kosuge, Kazuhiro.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 165-170 4399408 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Kosuge, Kazuhiro

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AB - This paper proposes a motion control algorithm for an active type of robotic mobility aid based on passive behavior concept. Passive behavior is an important characteristic of a system that provides mobility to elderly or person with walking disability. It allows the user to control the system based on intention. Passive behavior is implemented using imposed desired dynamics, which represents the actual behavior of passive system. This approach uses user intention represented by applied force/torque to derive the mobility aid desired motion. In addition, a guideline in parameter selection of the desired dynamics is also presented. This guideline is used to ensure the stability of the active robotic mobility aid with passive behavior. Experimental results are presented to show the validity of the proposed control method. ©2007 IEEE.

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Active type robotic mobility aid control based on passive behavior

Abstract

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