Abstract
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.
| Original language | English |
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| Title of host publication | Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 |
| Pages | 139-142 |
| Number of pages | 4 |
| Volume | 2005 |
| DOIs | |
| Publication status | Published - 2005 Dec 1 |
| Event | 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 - Chicago, IL, United States Duration: 2005 Jun 28 → 2005 Jul 1 |
Other
| Other | 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 |
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| Country/Territory | United States |
| City | Chicago, IL |
| Period | 05/6/28 → 05/7/1 |
ASJC Scopus subject areas
- Engineering(all)