모터 토크 추정을 통한 보행보조기의의지파악 알고리즘
Walking Will Recognition Algorithm for Walking Aids Based on Torque Estimation
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
This paper deals with the recognition algorithm of walking will based on torque estimation. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don’t have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to control aids during its movement, because it is not easy to recognize user’s walking will. Many kinds of methods are proposed to recognize of user’s walking will. In this paper, we propose walking will recognition algorithm by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Here, all the processes are verified by simulation and experiment in the real world.
Abstract
This paper deals with the recognition algorithm of walking will based on torque estimation. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don’t have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to control aids during its movement, because it is not easy to recognize user’s walking will. Many kinds of methods are proposed to recognize of user’s walking will. In this paper, we propose walking will recognition algorithm by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Here, all the processes are verified by simulation and experiment in the real world.
참고문헌 (14)
- Yasuhiro Nemoto, "Power-Asisted Walking Support System for Elderly", Int.Conf.of the IEEE Engineering in Medicine and Biology Society, 20(5), pp.2693~2695 (1998)
- Shane MacNamara, "A Smart Walker for the Frail Visually Impaired", Int.Conf.on Robotics and Automation, pp.1354~1359 (2000)
- Aaron Morris, "A Robotic Walkier That Provides Guidance", Robotics and Automation, pp.25~30 (2003)
- Yashshi Ikeuchi, "Walking Assist Device with Body Weight support System", International Conference on Intelligent Robots and Systems, pp.4073~4079 (2009)
- R. Thieffry, "Configurating Sensors by User Learning for a Locomotion Aid Interface", Int.Conf.on Robotics and Automation, pp.1509~1514 (2003)
- In Ku Choi, "A Study on the Wall Following Method of the Motorized Wheelchair", J.of Biomed.Eng.Res., 209~214 (1994)
- Oscar Chuy Jr, "A New Control Approach for a Robotic Walking Support System in Adapting User Characteristics", IEEE Trans.on System,Man,and Cybernetics, 36(6), pp.725~733 (2006)
- Oscar Chuy Jr, "Motion Control Algorithms for a New Intelligent Robotic Walker in Emulating Ambulatory Device Function", Int.Conf.on Mechatronics and Automation, pp.1509~1514 (2005)
- Masashi Tani, "Internal Model Control for Asisting Unit of Wheeled Walking Frame", Int.Conf.on Control Applications, pp.928~933 (2004)
- Yasuhisa Hirata, "Motion Control of Passive-type Walking Support System based on Environment Information", Int.Conf.on Robotics and Automation, pp.2921~2926 (2005)
- S. Egawa, "Power-assisted walking support system with imbalancecompensation control for hemiplegics", BMES, 1999, 635~
- 공정식, "퍼지 알고리즘을 이용한 보행보조기의 최적화된 보행 의지 파악 시스템", 한국지능시스템학회 논문지, 18(5), pp.692~699 (2008), 한국지능시스템학회
- Yasuhisa Hirata, "Motion Control of Omni-directional type Walking Support System Walking Helper", Int.Workshop on Robot and Human Interactive Communication, pp.85~90 (2003)
- G.Dudek, "Computational Principles of Mobile Robot", Cambridge university press, 26~27 (2000)