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

Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1". / Ando, Takeshi; Ogawa, Yu; Nakashima, Yasutaka; Ohki, Eiichi; Kobayashi, Yo; Nihei, Misato; Fujie, Masakatsu G.

2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 4157-4162 5979951.

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

Ando, T, Ogawa, Y, Nakashima, Y, Ohki, E, Kobayashi, Y, Nihei, M & Fujie, MG 2011, Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1". in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5979951, pp. 4157-4162, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 5/9/11. https://doi.org/10.1109/ICRA.2011.5979951
Ando T, Ogawa Y, Nakashima Y, Ohki E, Kobayashi Y, Nihei M et al. Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1". In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 4157-4162. 5979951 https://doi.org/10.1109/ICRA.2011.5979951
Ando, Takeshi ; Ogawa, Yu ; Nakashima, Yasutaka ; Ohki, Eiichi ; Kobayashi, Yo ; Nihei, Misato ; Fujie, Masakatsu G. / Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1". 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. pp. 4157-4162
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