TY - GEN
T1 - Control of walking support system based on variable center of rotation
AU - Chuy Jr., Oscar
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
N1 - 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].
PY - 2004
Y1 - 2004
N2 - This paper propose a new control algorithm for a Robotic Walking Support System, which varies the kinematic structure of the system to adapt users' walking or controlling disability. Elderly who suffers from deficiencies in motor skills cannot control or steer their walkers properly. Since the applied torque is highly correlated to the heading angle of the walker, torque transformation is needed to properly steer the walker. The variation of kinematic structure will be implemented by varying the Center of Rotation (COR) and as a result the torque of the system is changed. In order to model the users' walking or controlling disability, the user will be asked to follow a desired path. Using a learning algorithm, errors between the desired and actual path will be used to determine the new COR. The proposed control algorithm was experimentally implemented and the result shows its validity.
AB - This paper propose a new control algorithm for a Robotic Walking Support System, which varies the kinematic structure of the system to adapt users' walking or controlling disability. Elderly who suffers from deficiencies in motor skills cannot control or steer their walkers properly. Since the applied torque is highly correlated to the heading angle of the walker, torque transformation is needed to properly steer the walker. The variation of kinematic structure will be implemented by varying the Center of Rotation (COR) and as a result the torque of the system is changed. In order to model the users' walking or controlling disability, the user will be asked to follow a desired path. Using a learning algorithm, errors between the desired and actual path will be used to determine the new COR. The proposed control algorithm was experimentally implemented and the result shows its validity.
UR - https://www.scopus.com/pages/publications/14044257267
UR - https://www.scopus.com/pages/publications/14044257267#tab=impact
U2 - 10.1109/iros.2004.1389750
DO - 10.1109/iros.2004.1389750
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 0780384636
SN - 9780780384637
VL - 3
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 2289
EP - 2294
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -