Bringing proxemics to walker-assisted gait: using admittance control with spatial modulation to navigate in confined spaces. Bringing proxemics to walker-assisted gait

Mario F. Jimenez, Ricardo C. De Mello, Teodiano Bastos, Anselmo Frizera-Neto

Research output: Contribution to journalArticlepeer-review

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Smart walkers may be used to assist human navigation. However, social conventions and human behavior should be taken into consideration to allow their interaction with other people. This paper presents a navigation strategy for a smart walker with social conventions defined by proxemics, which uses an admittance controller to generate haptic and visual signals for a safe navigation within a corridor. This controller was validated in two experiments. The first one consisted of recreating, in a simulation environment, five typical situations that could occur in a corridor. The second experiment consisted of validating the controller in a real environment within the corridor. In this case, people generate uncontrolled situations in the corridor. This controller allowed a safe social navigation with a comfortable velocity of 0.244 m/s ± 0.1196.
Original languageEnglish (US)
Pages (from-to)1-19
Number of pages19
JournalPersonal and Ubiquitous Computing
Issue numberN/A
StatePublished - Mar 25 2021

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence

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