Paper Info
Title
Stable turning movement of a gait-controlled personal mobility "Tread-Walk 1".
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.
Year
DOI
Venue
2011
10.1109/ICRA.2011.5979951
ICRA
Keywords
Field
DocType
gait analysis,handicapped aids,medical robotics,Tread-Walk 1,centrifugal force,elderly people,gait-controlled personal mobility,handle grasping time,independent walking,physical abilities,stable turning movement
Centrifugal force,Gait,Tread,Simulation,Medical robotics,Personal mobility,Control engineering,Gait analysis,Engineering,Preferred walking speed
Conference
Volume
Issue
ISSN
2011
1
1050-4729
Citations 
PageRank 
References 
0
0.34
2
Authors
7
Name
Order
Citations
PageRank
Takeshi Ando12211.22
Yu Ogawa200.34
Yasutaka Nakashima3810.37
Eiichi Ohki472.75
Yo Kobayashi518548.42
Misato Nihei653.98
Masakatsu G. Fujie729785.17