Motion Control of Intelligent Walker based on Renew of Estimation Parameters for User State

In this paper, we present a method for estimating the user states during the usage of the walker, which support the walking of the user based on the physical interaction between the user and the walker. We also propose a method for renewing these estimation parameters changed by the users and the environmental conditions. The proposed methods are experimentally implemented in RT Walker, which is passive-type intelligent walker. The experimental results illustrate that the proposed methods could estimate the user states during the usage of the walker and the parameters for estimating the user states are changed based on the several kinds of the conditions such as physical size, daily conditions and operational characteristics of the users, environmental conditions, and so on