TY - GEN
T1 - Fall prevention control of passive intelligent walker based on human model
AU - Hirata, Yasuhisa
AU - Komatsuda, Shinji
AU - Kosuge, Kazuhiro
PY - 2008
Y1 - 2008
N2 - As aging progresses, fall accident of the person using the walker is an acute problem. It is necessary to know the situation of the user's fall to prevent it. In this paper, we propose a method for estimating the user's fall by modeling of the user in real time as a solid body link model, and pay attention to the center of gravity of the model. We also propose a method for controlling a passive intelligent walker to prevent the user's fall according to the support polygon and the walking characteristic of the user. We experimented with passive intelligent walker in which we implement the proposed fall prevention control and show the effectiveness of the proposal method.
AB - As aging progresses, fall accident of the person using the walker is an acute problem. It is necessary to know the situation of the user's fall to prevent it. In this paper, we propose a method for estimating the user's fall by modeling of the user in real time as a solid body link model, and pay attention to the center of gravity of the model. We also propose a method for controlling a passive intelligent walker to prevent the user's fall according to the support polygon and the walking characteristic of the user. We experimented with passive intelligent walker in which we implement the proposed fall prevention control and show the effectiveness of the proposal method.
UR - http://www.scopus.com/inward/record.url?scp=69549083235&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549083235&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4651173
DO - 10.1109/IROS.2008.4651173
M3 - Conference contribution
AN - SCOPUS:69549083235
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 1222
EP - 1228
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -