The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 2P2-F10
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2P2-F10 Motion Control of Three-Wheeled Omnidirectional Intelligent Cane Robot
Jian HUANGPei DIToshio FUKUDA
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
A three-wheeled omnidirectional cane robot is designed for aiding the elderly walking. Possible walking modes are analyzed and a corresponding hybrid model is constructed to describe walking behavior. A concept called intentional direction is presented to denote the moving intention of a human. Based on experiments and some assumptions, dynamic model of intentional direction is obtained as well as its online estimation method. A new admittance control scheme is presented based on intentional direction, which provides natural and intuitive human machine interface. Experiment results show the effectiveness of the design.
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© 2008 The Japan Society of Mechanical Engineers
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