Novel walking assist device based on generic human motion tracking criteria

Kamal Mohy El Dine; Chuan Yang; Takahiro Nozaki; Toshiyuki Murakami

doi:10.1109/AMC.2016.7496325

Novel walking assist device based on generic human motion tracking criteria

Kamal Mohy El Dine, Chuan Yang, Takahiro Nozaki, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

Replacing nurses and caregivers by human-friendly robots is drawing the attention of the next generation for elderly people assistance and those with special needs. However, the human-machine cooperative control is still a key challenge in this domain. This paper presents a new approach for walking assist control that uses Inertial Measurement Units (IMUs) fixed on elderly people's body to track their posture and estimate its Center Of Mass (COM) and Zero-Moment Point (ZMP) motions to be used by a differential mobile robot that synchronize with the user's walking motion. Furthermore, a manipulator mounted on the mobile device to support the users from their back, help them walk, and assist in dangerous situations. In this study, the walking is divided into phases according to the falling index defined, and the impedance of the manipulator is changed based on the stability of the situation. Experiments of the walking assist control were carried out, and by their results the validity of the proposed approach is confirmed and the fall avoidance is realized.

Original language	English
Title of host publication	2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	38-43
Number of pages	6
ISBN (Electronic)	9781479984640
DOIs	https://doi.org/10.1109/AMC.2016.7496325
Publication status	Published - 2016 Jun 20
Event	14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand Duration: 2016 Apr 22 → 2016 Apr 24

Other

Other	14th IEEE International Workshop on Advanced Motion Control, AMC 2016
Country/Territory	New Zealand
City	Auckland
Period	16/4/22 → 16/4/24

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/AMC.2016.7496325

Cite this

Novel walking assist device based on generic human motion tracking criteria. / El Dine, Kamal Mohy; Yang, Chuan; Nozaki, Takahiro et al.
2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 38-43 7496325.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

El Dine, KM, Yang, C, Nozaki, T & Murakami, T 2016, Novel walking assist device based on generic human motion tracking criteria. in 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016., 7496325, Institute of Electrical and Electronics Engineers Inc., pp. 38-43, 14th IEEE International Workshop on Advanced Motion Control, AMC 2016, Auckland, New Zealand, 16/4/22. https://doi.org/10.1109/AMC.2016.7496325

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abstract = "Replacing nurses and caregivers by human-friendly robots is drawing the attention of the next generation for elderly people assistance and those with special needs. However, the human-machine cooperative control is still a key challenge in this domain. This paper presents a new approach for walking assist control that uses Inertial Measurement Units (IMUs) fixed on elderly people's body to track their posture and estimate its Center Of Mass (COM) and Zero-Moment Point (ZMP) motions to be used by a differential mobile robot that synchronize with the user's walking motion. Furthermore, a manipulator mounted on the mobile device to support the users from their back, help them walk, and assist in dangerous situations. In this study, the walking is divided into phases according to the falling index defined, and the impedance of the manipulator is changed based on the stability of the situation. Experiments of the walking assist control were carried out, and by their results the validity of the proposed approach is confirmed and the fall avoidance is realized.",

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Novel walking assist device based on generic human motion tracking criteria

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