TY - GEN
T1 - Control of walking support system based on variable center of rotation
AU - Chuy, Oscar
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
N1 - Funding Information:
Financial contribution from the project INES2, supported by the ADEME State Program ?Investissements d'Avenir?, bearing the reference (ANR-10-ITE-0003), is gratefully acknowledged. In addition, the authors would also like to acknowledge the contribution of ACL Process, to the realization of the UAV flights, as well as the Laboratoire Modules Photovolta?ques (LMPV) of CEA INES, for performing the indoor I-V characterization and EL imaging. Contribution of the images appearing in Fig.?15 is acknowledged to PV plant operation partners, in the context of AO CRE SYS3 Project.
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.
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M3 - Conference contribution
AN - SCOPUS:14044257267
SN - 0780384636
SN - 9780780384637
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 -