TY - GEN
T1 - Development of intelligent passive cane controlled by servo brakes
AU - Suzuki, Shinji
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2009/12/1
Y1 - 2009/12/1
N2 - In this paper, we propose an intelligent cane developed based on passive robotics concept for supporting the elderly and the disabled persons who have difficulty walking. The Intelligent Passive Cane (IP Cane) is controlled by servo brakes attached to the wheels and intrinsically safe for humans, because it cannot move unintentionally, i.e., it has no driving actuators. In addition, the IP Cane provides many kinds of functions by appropriately controlling the torque of wheels with servo brakes. In this paper, we propose an environmentally adaptive motion control algorithm that provides path following function, and a human adaptive motion control algorithm that changes motion characteristic of IP Cane to adapt to user difficulty and states.
AB - In this paper, we propose an intelligent cane developed based on passive robotics concept for supporting the elderly and the disabled persons who have difficulty walking. The Intelligent Passive Cane (IP Cane) is controlled by servo brakes attached to the wheels and intrinsically safe for humans, because it cannot move unintentionally, i.e., it has no driving actuators. In addition, the IP Cane provides many kinds of functions by appropriately controlling the torque of wheels with servo brakes. In this paper, we propose an environmentally adaptive motion control algorithm that provides path following function, and a human adaptive motion control algorithm that changes motion characteristic of IP Cane to adapt to user difficulty and states.
UR - http://www.scopus.com/inward/record.url?scp=72849143561&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=72849143561&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2009.5326139
DO - 10.1109/ROMAN.2009.5326139
M3 - Conference contribution
AN - SCOPUS:72849143561
SN - 9781424450817
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 97
EP - 102
BT - RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive
T2 - 18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009
Y2 - 27 September 2009 through 2 October 2009
ER -