Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1"

Takeshi Ando, Yu Ogawa, Yasutaka Nakashima, Eiichi Ohki, Yo Kobayashi, Misato Nihei, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We have been developing the new personal mobility aid, "Tread-Walk 1," which is controlled by the driver's walking pace and amplifies walking velocity. The Tread-Walk 1 not only assists mobility but also helps the elderly maintain their physical abilities. However, the turning movement of the Tread-Walk is likely to be unstable, because the Tread-Walk is controlled by walking. In this paper, we focus on the stable turning movement of the Tread-Walk 1. First, we simulate the centrifugal force applied to the driver, which was not considered in our previous report. Then, a new algorithm to realize stable turning movement is established by measuring the driver's standing position. Finally, the developed algorithm for the turning movement of the Tread-Walk 1 is evaluated by measuring the handle grasping time. With the new algorithm, the Tread-Walk 1 turned steadily and driver did not lose their balance.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages4157-4162
Number of pages6
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ando, T., Ogawa, Y., Nakashima, Y., Ohki, E., Kobayashi, Y., Nihei, M., & Fujie, M. G. (2011). Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1". In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 4157-4162). [5979951] https://doi.org/10.1109/ICRA.2011.5979951