抄録
An Omni-direction type cane is designed for aiding the elderly and handicapped people walking. Fall prevention algorithm based on the relationship between user's COG and the cane is proposed. Because the size of the cane robot is small, when the robot is preventing the user falling down, the stability of the cane robot should be ensured firstly. Therefore, a new mechanical part called universal joint is designed for improving the stability of cane robot whiles the cane robot preventing the user falling down. The universal joint which is driven by two DC motors can reduce the moment that causing it falling over.
