Standing Up and Sitting Down Support Using Intelligent Walker Based on Estimation of User States

In this paper, we propose estimation methods of user states using intelligent walker, which is realized based on the distance between the user and the walker. Especially, we pay attention to the support for the standing up and the sitting down motions of the user by controlling the passive-type intelligent walker based on the user states. Proposed estimation methods are also implemented in passive-type intelligent walker referred to as RT Walker, whose motions are controlled by the servo brakes, and the experimental results illustrate the validity of the proposed methods