TY - GEN
T1 - Optimal guidance by omnidirectional passive mobility aid system
AU - Nejatbakhsh, Naemeh
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 - 2006
Y1 - 2006
N2 - This work present a loose guidance method for a passive-type omnidirectional mobility aid device named Omni RT Walker-II, which its motion is performed by shared control of user and controller. Guidance is performed by division of environment to accessible and inaccessible areas and the motion of walker-user system is constrained inside the accessible area called Potential Canal. This paper attempts at providing evidence to the fact that loose guide method is an approach to optimal guidance in the sense that when the control (constrain) of ORTW-II motion is loose, its motion pattern significantly resembles user's unconstrained motion. Healthy user's natural motion is hypothesized to be optimal and is compared with constrained motion pattern of ORTW-II for different settings of the Potential Canal. Experimental results are provided and discussed. © 2006 IEEE.
AB - This work present a loose guidance method for a passive-type omnidirectional mobility aid device named Omni RT Walker-II, which its motion is performed by shared control of user and controller. Guidance is performed by division of environment to accessible and inaccessible areas and the motion of walker-user system is constrained inside the accessible area called Potential Canal. This paper attempts at providing evidence to the fact that loose guide method is an approach to optimal guidance in the sense that when the control (constrain) of ORTW-II motion is loose, its motion pattern significantly resembles user's unconstrained motion. Healthy user's natural motion is hypothesized to be optimal and is compared with constrained motion pattern of ORTW-II for different settings of the Potential Canal. Experimental results are provided and discussed. © 2006 IEEE.
KW - Human natural motion
KW - Mobility aid device
KW - Omnidirectional
KW - Optimal guidance
KW - Passive systems
UR - http://www.scopus.com/inward/record.url?scp=34250672756&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-34250672756&origin=recordpage
U2 - 10.1109/IROS.2006.282388
DO - 10.1109/IROS.2006.282388
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 142440259
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5786
EP - 5791
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -