Examination of a control method for a walking assistance robotics cane

Cane type walking assist device and comparison of its control methods are proposed in this paper. Our robotic cane has been designed using omni-directional wheel, such that it moves according to user´s small force applied to the cane, and to stably support the user when he/she impose large force. The conventional control method has been compared with the proposed one in 2D space. Moreover, the validity of the proposed control method has been confirmed using 3D simulation environment.