NDLI: Walking assistant service mobile robot using lever mechanism and wireless Internet communication

Content Provider	IEEE Xplore Digital Library
Author	Tong-Jin Park Jae-Ho Jang Chang-Soo Han
Copyright Year	2003
Description	Author affiliation: Dept. of Precision Mech. Eng., Hanyang Univ., Seoul, South Korea (Tong-Jin Park)
Abstract	In this study, the concept of autonomous mobility is applied to a service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. The path tracking algorithm is used based on the kinematics of the AMR. The walking assistant path pattern is derived from analyzing the elderly walking pattern. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. The AMR tracks the reference path, which is for the elderly walking by applying the path tracking algorithm with an optimal controller. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. Using the wireless Internet communication, the AMR information can offer the navigation information to the clients. The clients as a supporter can be accessed remotely to the elderly walking information. Also the PDA is used for checking the brief walking information, which is the elderly walking velocity and location information in large construction indoor.
Sponsorship	IEEE Ind. Electron. Soc.(IES) IEEE Robotics & Autom. Soc. (RAS) ASME Dynamic Syst. & Control Div. (DSC)
Starting Page	657
Ending Page	662
File Size	505671
Page Count	6
File Format	PDF
ISBN	0780377591
DOI	10.1109/AIM.2003.1225172
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Mobile robots Wireless communication Web and internet services Mobile communication Senior citizens Force measurement Service robots Kinematics Pattern analysis
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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