TY - GEN
T1 - Passive-type intelligent walking support system "RT Walker"
AU - Hirata, Yasuhisa
AU - Hara, Asami
AU - Kosuge, Kazuhiro
PY - 2004
Y1 - 2004
N2 - We propose a concept of a new walking support system based on passive robotics for supporting elderly people, handicapped people, and blind people who have difficulties in walking, and develop a prototype of new walking support system referred to as RT Walker. RT Walker consists of a support frame, two casters, and two wheels with servo brakes, and has a passive dynamics with respect to the force/moment applied to it, because it does not have any actuators for driving it. RT Walker would be a system with many functions and a good maneuverability by controlling the brake torques of servo brakes appropriately based on Robot Technologies (RT). In this paper, we propose motion control algorithms of RT Walker for changing its apparent dynamics to adapt to the difficulties of the user, and for moving based on the information of an environment.
AB - We propose a concept of a new walking support system based on passive robotics for supporting elderly people, handicapped people, and blind people who have difficulties in walking, and develop a prototype of new walking support system referred to as RT Walker. RT Walker consists of a support frame, two casters, and two wheels with servo brakes, and has a passive dynamics with respect to the force/moment applied to it, because it does not have any actuators for driving it. RT Walker would be a system with many functions and a good maneuverability by controlling the brake torques of servo brakes appropriately based on Robot Technologies (RT). In this paper, we propose motion control algorithms of RT Walker for changing its apparent dynamics to adapt to the difficulties of the user, and for moving based on the information of an environment.
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M3 - Conference contribution
AN - SCOPUS:14044257281
SN - 0780384636
SN - 9780780384637
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 3871
EP - 3876
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 -