E-1-2 Motion Control for an Indoor Walking Support Robot

Abstract

In this paper, a new walking support machine is developed for the people with walking impairment. The machine can realize walking support by moving to the direction the user is intending to go according to the user's manipulation. However, the motion of the machine is affected by the nonlinear frictions in the wheels and loads changes caused by users. It is necessary to improve the machine's motion performance to follow the user intention and assist the users to where they intend to go. Therefore, a digital acceleration controller is designed to deal with the problem of nonlinear friction and load change to improve the motion accuracy of the machine. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method.