Stable Turning Movement of a Gait-controlled Personal Mobility “Tread-Walk 1
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.
Takeshi Ando Yu Ogawa Yasutaka Nakashima Eiichi Ohki Yo Kobayashi Misato Nihei Masakatsu G. Fujie
Waseda University,Tokyo,Japan University of Tokyo,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4157-4162
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）