A Path Tracking Control for Omni Directional Walking Training Machine

Abstract

Although, walking training instruments are widely utilized to the rehabilitation for walking-disabled patients, the most of those has only simple functions and rehabilitation protocol was limited by restriction of those instruments. To improve the efficiency of walking training, our research group had developed an omni-directional walker, which can make a user exercise omni-directional walking movements. Its availability had been proved by clinical study. But, a movement inaccuracy due to disproportion of the frictional resistance for the wheels has been observed. In this paper, we applied a path tracking control for omni directional walker to reduce the movement inaccuracy. And, the efficacy of the control method has been evaluated by computer simulation.