An Assistive Device that Converses the Walking Patterns between Stairs and Flat Roads

Abstract

The purpose of this study is to automatically convert the movement patterns of the walking assistive device in different surroundings. We proposed a system that can detect the change of the surroundings and assist the elderly and mild patients to adjust the gait. The impedance control method was utilized to make the user trace the predefined gait that belongs to healthy people. Thus, the user was taught to walk effectively. Ultrasonic sensors were used measured the distance between the foot and staircase. Based on the measured distance, the stride length was adjusted to prevent the collision to the stairs. In the transition phase of the stair climbing and the level walking, the walking trajectories of different patterns were combined. From simulation results, the device climbed on the stairs at the distinct distance from the user. This method has the potential to adapt various walking assistive devices to different surroundings.