Recognition of navigation commands for a smart walker through force sensors

Mario F. Jiménez, Anselmo Frizera, Teodiano Bastos

Producción científica: Capítulo en Libro/ReporteContribución a la conferencia

1 Cita (Scopus)

Resumen

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.

Idioma originalInglés estadounidense
Título de la publicación alojadaIFMBE Proceedings
EditoresRodrigo Costa-Felix, André Victor Alvarenga, João Carlos Machado
EditorialSpringer
Páginas689-694
Número de páginas6
Edición1
ISBN (versión impresa)9789811321184
DOI
EstadoPublicada - 2019
Publicado de forma externa
Evento26th Brazilian Congress on Biomedical Engineering, CBEB 2018 - Armação de Buzios, Brasil
Duración: oct. 21 2018oct. 25 2018

Serie de la publicación

NombreIFMBE Proceedings
Número1
Volumen70
ISSN (versión impresa)1680-0737
ISSN (versión digital)1433-9277

Conferencia

Conferencia26th Brazilian Congress on Biomedical Engineering, CBEB 2018
País/TerritorioBrasil
CiudadArmação de Buzios
Período10/21/1810/25/18

Áreas temáticas de ASJC Scopus

  • Bioingeniería
  • Ingeniería biomédica

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