Title :
User directional intention recognition of an omnidirectional walking support walker
Author :
Jiang, Yinlai ; Ishida, Kenji ; Wang, Shuoyu ; Ando, Takeshi ; Fujie, Masakatsu G.
Author_Institution :
Sch. of Syst. Eng., Kochi Univ. of Technol., Kochi, Japan
Abstract :
An omnidirectional walking support walker (ODW) is being developed. In order to provide walking support according to the user directional intention, we propose a method to recognize the user directional intention from forearm pressures. The pressures between forearms and the ODW are measured by 4 force sensors embedded in the ODW´s armrest. The relationship between forearm pressure and user directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on the distance type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results showed that the method was applicable to the ODW´s direction control in walking support.
Keywords :
force measurement; force sensors; fuzzy control; fuzzy reasoning; fuzzy set theory; handicapped aids; medical control systems; patient rehabilitation; position control; pressure measurement; armrest; direction control; distance type fuzzy reasoning method; force sensors; forearm pressure; fuzzy rules; omnidirectional walking support walker; path tracking experiment; user directional intention recognition; Cognition; Force; Fuzzy logic; Fuzzy reasoning; Legged locomotion; Sensors; Wrist; directional intention recognition; distance-type fuzzy reasoning method; forearm pressure; omnidirectional walker; walking support;
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8113-2
DOI :
10.1109/ICMA.2011.5985848