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

Autores
Valadão, Carlos; Caldeira, Eliete; Bastos-Filho, Teodiano; Frizera Neto, Anselmo; Carelli Albarracin, Ricardo Oscar
Año de publicación
2016
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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
Materia
ACCESSIBILITY
ASSISTIVE TECHNOLOGY
MOBILITY
ROBOTIC WALKER
SMART WALKER
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/61133
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/61133
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A new controller for a smart walker based on human-robot formationValadão, CarlosCaldeira, ElieteBastos-Filho, TeodianoFrizera Neto, AnselmoCarelli Albarracin, Ricardo OscarACCESSIBILITYASSISTIVE TECHNOLOGYMOBILITYROBOTIC WALKERSMART WALKERhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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; BrasilFil: Caldeira, Eliete. Universidade Federal Do Espirito Santo. Centro Tecnológico; BrasilFil: Bastos-Filho, Teodiano. Universidade Federal Do Espirito Santo. Centro Tecnológico; BrasilFil: Frizera Neto, Anselmo. Universidade Federal Do Espirito Santo. Centro Tecnológico; BrasilFil: 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; ArgentinaMolecular Diversity Preservation International2016-07info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/61133Valadão, Carlos; Caldeira, Eliete; Bastos-Filho, Teodiano; Frizera Neto, Anselmo; Carelli Albarracin, Ricardo Oscar; A new controller for a smart walker based on human-robot formation; Molecular Diversity Preservation International; Sensors; 16; 7; 7-2016; 1-261424-8220CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.3390/s16071116info:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/1424-8220/16/7/1116info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:36:02Zoai:ri.conicet.gov.ar:11336/61133instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:36:03.257CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A new controller for a smart walker based on human-robot formation
title A new controller for a smart walker based on human-robot formation
spellingShingle A new controller for a smart walker based on human-robot formation
Valadão, Carlos
ACCESSIBILITY
ASSISTIVE TECHNOLOGY
MOBILITY
ROBOTIC WALKER
SMART WALKER
title_short A new controller for a smart walker based on human-robot formation
title_full A new controller for a smart walker based on human-robot formation
title_fullStr A new controller for a smart walker based on human-robot formation
title_full_unstemmed A new controller for a smart walker based on human-robot formation
title_sort A new controller for a smart walker based on human-robot formation
dc.creator.none.fl_str_mv Valadão, Carlos
Caldeira, Eliete
Bastos-Filho, Teodiano
Frizera Neto, Anselmo
Carelli Albarracin, Ricardo Oscar
author Valadão, Carlos
author_facet Valadão, Carlos
Caldeira, Eliete
Bastos-Filho, Teodiano
Frizera Neto, Anselmo
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Caldeira, Eliete
Bastos-Filho, Teodiano
Frizera Neto, Anselmo
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
author
dc.subject.none.fl_str_mv ACCESSIBILITY
ASSISTIVE TECHNOLOGY
MOBILITY
ROBOTIC WALKER
SMART WALKER
topic ACCESSIBILITY
ASSISTIVE TECHNOLOGY
MOBILITY
ROBOTIC WALKER
SMART WALKER
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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
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.
publishDate 2016
dc.date.none.fl_str_mv 2016-07
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/61133
Valadão, Carlos; Caldeira, Eliete; Bastos-Filho, Teodiano; Frizera Neto, Anselmo; Carelli Albarracin, Ricardo Oscar; A new controller for a smart walker based on human-robot formation; Molecular Diversity Preservation International; Sensors; 16; 7; 7-2016; 1-26
1424-8220
CONICET Digital
CONICET
url http://hdl.handle.net/11336/61133
identifier_str_mv Valadão, Carlos; Caldeira, Eliete; Bastos-Filho, Teodiano; Frizera Neto, Anselmo; Carelli Albarracin, Ricardo Oscar; A new controller for a smart walker based on human-robot formation; Molecular Diversity Preservation International; Sensors; 16; 7; 7-2016; 1-26
1424-8220
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.3390/s16071116
info:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/1424-8220/16/7/1116
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Molecular Diversity Preservation International
publisher.none.fl_str_mv Molecular Diversity Preservation International
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844614380043370496
score 13.070432

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