Motion control of omni-directional walker for walking support

An omni-directional walker (ODW) has been developed which can support people with walking disabilities to perform indoor walking. During walking support, the walker can identify the user´s directional intention according to the user´s forearm pressures and support the user to go in the intended direction. In this paper, an adaptive control method is proposed to control the ODW´s movement toward the direction in which the user intends to go. Simulation results show that the ODW can accurately follow the user´s intention direction with the proposed control method.