TY - GEN
T1 - A turning control of electric wheeled walker device by PSD camera information
AU - Saito, Daisuke
AU - Murakami, Toshiyuki
PY - 2014
Y1 - 2014
N2 - Recently, elderly people who cannot walk well often use a wheeled walker with four omnidirectional wheels. However, the wheeled walker causes a fall due to the wheels. To be specific, user falls down when the wheeled walker moves different from user. For example turning, stopping and so on. Then, in order to prevent the accidents, electric wheeled walker device (EWWD) is being researched all over the world. EWWD I proposed can move with same velocity as user's one. PSD camera on EWWD can detect relative position between PSD camera and LED light on the feet. However proposed EWWD could go only straight. In this paper, turning system of the EWWD is presented. Proposed turning system of EWWD utilizes center of gravity (COG) position of feet. Weighting function which depends on COG position determines the turning angle. Turning system is evaluated by experiments.
AB - Recently, elderly people who cannot walk well often use a wheeled walker with four omnidirectional wheels. However, the wheeled walker causes a fall due to the wheels. To be specific, user falls down when the wheeled walker moves different from user. For example turning, stopping and so on. Then, in order to prevent the accidents, electric wheeled walker device (EWWD) is being researched all over the world. EWWD I proposed can move with same velocity as user's one. PSD camera on EWWD can detect relative position between PSD camera and LED light on the feet. However proposed EWWD could go only straight. In this paper, turning system of the EWWD is presented. Proposed turning system of EWWD utilizes center of gravity (COG) position of feet. Weighting function which depends on COG position determines the turning angle. Turning system is evaluated by experiments.
KW - disturbance observer
KW - gait-training equipment
KW - turning system
KW - walking support
KW - wheeled walker
UR - http://www.scopus.com/inward/record.url?scp=84903194970&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2014.6823352
DO - 10.1109/AMC.2014.6823352
M3 - Conference contribution
AN - SCOPUS:84903194970
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 616
EP - 620
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -