Title :
A robotic cane for walking assistance
Author :
Shimizu, Kazuo ; Smadi, Issam ; Fujimoto, Yasutaka
Author_Institution :
Yokohama Nat. Univ., Yokohama, Japan
Abstract :
New design and control of a robotic cane have been proposed in this paper. Our robotic cane has been designed so that it moves according to user´s small force applied to the cane and it stably supports the user when large force is applied by the user. We confirmed our control and estimation of human force method in 2D and 3D simulation. In this paper, an overview of the design and a robust control method are presented.
Keywords :
gait analysis; handicapped aids; medical control systems; human force estimation; robotic cane control; robotic cane design; walking assistance; Automation; Force; Observers; Patents; Robot kinematics; Robot sensing systems; inverted pendulum; nonlinear control; omni-directional wheel; robotic cane; walking assist;
Conference_Titel :
Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE-ASIA), 2014 International
Conference_Location :
Hiroshima
DOI :
10.1109/IPEC.2014.6869857
