Recognition of navigation commands for a smart walker through force sensors

Mario F. Jiménez; Anselmo Frizera; Teodiano Bastos

doi:10.1007/978-981-13-2119-1_105

Recognition of navigation commands for a smart walker through force sensors

Mario F. Jiménez
, Anselmo Frizera
, Teodiano Bastos

Research output: Chapter in Book/Inform › Conference contribution

2 Scopus citations

Abstract

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 language	English (US)
Title of host publication	IFMBE Proceedings
Editors	Rodrigo Costa-Felix, André Victor Alvarenga, João Carlos Machado
Publisher	Springer
Pages	689-694
Number of pages	6
Edition	1
ISBN (Print)	9789811321184
DOIs	https://doi.org/10.1007/978-981-13-2119-1_105
State	Published - 2019
Externally published	Yes
Event	26th Brazilian Congress on Biomedical Engineering, CBEB 2018 - Armação de Buzios, Brazil Duration: Oct 21 2018 → Oct 25 2018

Publication series

Name	IFMBE Proceedings
Number	1
Volume	70
ISSN (Print)	1680-0737
ISSN (Electronic)	1433-9277

Conference

Conference	26th Brazilian Congress on Biomedical Engineering, CBEB 2018
Country/Territory	Brazil
City	Armação de Buzios
Period	10/21/18 → 10/25/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 1 No Poverty

All Science Journal Classification (ASJC) codes

Bioengineering
Biomedical Engineering

Access to Document

10.1007/978-981-13-2119-1_105

Cite this

@inproceedings{26b2697c437e483f84cb689ccfa892c1,

title = "Recognition of navigation commands for a smart walker through force sensors",

abstract = "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{\textquoteright}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{\textquoteright}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.",

author = "Jim{\'e}nez, \{Mario F.\} and Anselmo Frizera and Teodiano Bastos",

note = "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: {\textcopyright} 2019, Springer Nature Singapore Pte Ltd. Copyright: Copyright 2019 Elsevier B.V., All rights reserved.; 26th Brazilian Congress on Biomedical Engineering, CBEB 2018 ; Conference date: 21-10-2018 Through 25-10-2018",

year = "2019",

doi = "10.1007/978-981-13-2119-1\_105",

language = "English (US)",

isbn = "9789811321184",

series = "IFMBE Proceedings",

publisher = "Springer",

number = "1",

pages = "689--694",

editor = "Rodrigo Costa-Felix and Alvarenga, \{Andr{\'e} Victor\} and Machado, \{Jo{\~a}o Carlos\}",

booktitle = "IFMBE Proceedings",

address = "Germany",

edition = "1",

}

Jiménez, MF, Frizera, A & Bastos, T 2019, Recognition of navigation commands for a smart walker through force sensors. in R Costa-Felix, AV Alvarenga & JC Machado (eds), IFMBE Proceedings. 1 edn, IFMBE Proceedings, no. 1, vol. 70, Springer, pp. 689-694, 26th Brazilian Congress on Biomedical Engineering, CBEB 2018, Armação de Buzios, Brazil, 10/21/18. https://doi.org/10.1007/978-981-13-2119-1_105

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.

UR - https://www.scopus.com/pages/publications/85067586593

UR - https://www.scopus.com/pages/publications/85067586593#tab=citedBy

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 -

Recognition of navigation commands for a smart walker through force sensors

Abstract

Publication series

Conference

UN SDGs

All Science Journal Classification (ASJC) codes

Access to Document

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