TY - GEN
T1 - Recognition of navigation commands for a smart walker through force sensors
AU - Jiménez, Mario F.
AU - Frizera, Anselmo
AU - Bastos, Teodiano
N1 - Funding Information:
Acknowledgements This research is supported by CAPES [grant number 88887.095626/2015-01], FAPES [grant number 80709036] and CNPq [grant number 304192/2016-3].
Publisher Copyright:
© 2019, Springer Nature Singapore Pte Ltd.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2019
Y1 - 2019
N2 - Smart Walkers are robotic devices that may be used to improve physical stability and sensorial support for people with lower-limb weakness or poor balance. Even though such devices may offer support to people who cannot safely use conventional walkers, their interaction strategy with the user still needs to be improved. In this context, this work presents a strategy to obtain navigation commands of a smart walker based on multi-axial force sensors. It also shows how to obtain the user’s motion intention from the interaction between his/her arms and the robotic walker. An admittance controller and an adaptive filter are used to obtain the user’s cadence. To validate the proposed strategy, a lemniscate curve marked on the floor is used to be followed by both the user and the smart walker. The parameters of the admittance controller are adjusted to find the more suitable values that allow a natural locomotion. As a result, the user can command the smart walker and establish a natural speed for his/her locomotion (around 0.3 m/s) using the admittance control.
AB - Smart Walkers are robotic devices that may be used to improve physical stability and sensorial support for people with lower-limb weakness or poor balance. Even though such devices may offer support to people who cannot safely use conventional walkers, their interaction strategy with the user still needs to be improved. In this context, this work presents a strategy to obtain navigation commands of a smart walker based on multi-axial force sensors. It also shows how to obtain the user’s motion intention from the interaction between his/her arms and the robotic walker. An admittance controller and an adaptive filter are used to obtain the user’s cadence. To validate the proposed strategy, a lemniscate curve marked on the floor is used to be followed by both the user and the smart walker. The parameters of the admittance controller are adjusted to find the more suitable values that allow a natural locomotion. As a result, the user can command the smart walker and establish a natural speed for his/her locomotion (around 0.3 m/s) using the admittance control.
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U2 - 10.1007/978-981-13-2119-1_105
DO - 10.1007/978-981-13-2119-1_105
M3 - Conference contribution
AN - SCOPUS:85067586593
SN - 9789811321184
T3 - IFMBE Proceedings
SP - 689
EP - 694
BT - IFMBE Proceedings
A2 - Costa-Felix, Rodrigo
A2 - Alvarenga, André Victor
A2 - Machado, João Carlos
PB - Springer
T2 - 26th Brazilian Congress on Biomedical Engineering, CBEB 2018
Y2 - 21 October 2018 through 25 October 2018
ER -