TY - GEN
T1 - Online approach in adapting user characteristic for robotic walker control
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 - 2005
Y1 - 2005
N2 - This paper propose an online approach to adapt user's controlling characteristic for robotic walker control. This approach is based on relocating the center of rotation (COR) of the robotic walker and it will be implemented online in training. This study aims to aid users that have difficulties in controlling their walking support system. To adapt user's controlling characteristics, a user will be asked to follow some training path and the error between the training and actual path will be used to change the COR of the system. This training process will be done until the user can successfully follow the training path. Several training paths will be considered and the relationship between user's intention in the form of applied force/torque and the new COR will be taken. This relationship will be used in the actual control implementation of a variable COR. Experimentation and evaluation will be presented to show the validity of the proposed approach. ©2005 IEEE.
AB - This paper propose an online approach to adapt user's controlling characteristic for robotic walker control. This approach is based on relocating the center of rotation (COR) of the robotic walker and it will be implemented online in training. This study aims to aid users that have difficulties in controlling their walking support system. To adapt user's controlling characteristics, a user will be asked to follow some training path and the error between the training and actual path will be used to change the COR of the system. This training process will be done until the user can successfully follow the training path. Several training paths will be considered and the relationship between user's intention in the form of applied force/torque and the new COR will be taken. This relationship will be used in the actual control implementation of a variable COR. Experimentation and evaluation will be presented to show the validity of the proposed approach. ©2005 IEEE.
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U2 - 10.1109/ICORR.2005.1501070
DO - 10.1109/ICORR.2005.1501070
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 0780390032
SN - 9780780390034
VL - 2005
T3 - Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics
SP - 139
EP - 142
BT - Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
T2 - 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Y2 - 28 June 2005 through 1 July 2005
ER -