Recognition of navigation commands for a smart walker through force sensors

Mario F. Jiménez, Anselmo Frizera, Teodiano Bastos

Research output: Chapter in Book/ReportConference contribution

1 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationIFMBE Proceedings
EditorsRodrigo Costa-Felix, André Victor Alvarenga, João Carlos Machado
Number of pages6
ISBN (Print)9789811321184
StatePublished - 2019
Externally publishedYes
Event26th Brazilian Congress on Biomedical Engineering, CBEB 2018 - Armação de Buzios, Brazil
Duration: Oct 21 2018Oct 25 2018

Publication series

NameIFMBE Proceedings
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277


Conference26th Brazilian Congress on Biomedical Engineering, CBEB 2018
CityArmação de Buzios

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Biomedical Engineering


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