NDLI: Control of intelligent cane robot considering usage of ordinary cane

Content Provider	IEEE Xplore Digital Library
Author	Nakagawa, S. Pei, D. Jian Huang Sekiyama, K. Fukuda, T.
Copyright Year	2013
Description	Author affiliation: Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China (Jian Huang) \|\| Dept. of Mech. & Aerosp. Eng., Nagoya Univ., Nagoya, Japan (Nakagawa, S.) \|\| Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan (Pei, D.; Sekiyama, K.) \|\| Dept. of Mechatron. Eng., Meijo Univ., Nagoya, Japan (Fukuda, T.)
Abstract	Intelligent cane is a robot developed for assisting the elderly or handicapped people in walking. As a nursing-care device, the cane robot is designed to assist the elderly or handicapped people not only in indoor environments but also in outdoor environments. Therefore the cane robot is required to be smaller and lighter. In addition, it is preferred that the cane robot is movable in omni-directions so that it can be used in various situations. A concept called “intentional direction (ITD)” was proposed to estimate the user's walking intention by analyzing signals from a 6-axis force/torque sensor fixed to the handle of the aluminum stick. Admittance control method was applied to the motion control of the cane robot. In this paper, a new algorithm based on the usage and purpose of an ordinary cane is proposed. In the proposed algorithm, the cane robot is appropriately stopped to support the elderly more effectively. The effectiveness of the proposed method is verified through the experiments.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	762
Ending Page	767
File Size	1049713
Page Count	6
File Format	PDF
ISBN	9781479905096
ISSN	19449445
DOI	10.1109/ROMAN.2013.6628405
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-26
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Robot sensing systems Senior citizens Admittance Force Foot
Content Type	Text
Resource Type	Article

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