A new controller for a smart walker based on human-robot formation

Authors
Valadão, Carlos; Caldeira, Eliete; Bastos-Filho, Teodiano; Frizera Neto, Anselmo; Carelli Albarracin, Ricardo Oscar
Publication Year
2016
Language
English
Format
article
Status
Published version
Description
This paper presents the development of a smart walker that uses a formation controller in its displacements. Encoders, a laser range finder and ultrasound are the sensors used in the walker. The control actions are based on the user (human) location, who is the actual formation leader. There is neither a sensor attached to the user’s body nor force sensors attached to the arm supports of the walker, and thus, the control algorithm projects the measurements taken from the laser sensor into the user reference and, then, calculates the linear and angular walker’s velocity to keep the formation (distance and angle) in relation to the user. An algorithm was developed to detect the user’s legs, whose distances from the laser sensor provide the information necessary to the controller. The controller was theoretically analyzed regarding its stability, simulated and validated with real users, showing accurate performance in all experiments. In addition, safety rules are used to check both the user and the device conditions, in order to guarantee that the user will not have any risks when using the smart walker. The applicability of this device is for helping people with lower limb mobility impairments.
Fil: Valadão, Carlos. Universidade Federal Do Espirito Santo. Centro Tecnológico; Brasil
Fil: Caldeira, Eliete. Universidade Federal Do Espirito Santo. Centro Tecnológico; Brasil
Fil: Bastos-Filho, Teodiano. Universidade Federal Do Espirito Santo. Centro Tecnológico; Brasil
Fil: Frizera Neto, Anselmo. Universidade Federal Do Espirito Santo. Centro Tecnológico; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Subject
ACCESSIBILITY
ASSISTIVE TECHNOLOGY
MOBILITY
ROBOTIC WALKER
SMART WALKER
Ingeniería de Sistemas y Comunicaciones
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
INGENIERÍAS Y TECNOLOGÍAS
Access level
Open access
License
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repository
CONICET Digital (CONICET)
Institution
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identifier
oai:ri.conicet.gov.ar:11336/61133