DocumentCode
1774153
Title
A robotic cane for walking assistance
Author
Shimizu, Kazuo ; Smadi, Issam ; Fujimoto, Yasutaka
Author_Institution
Yokohama Nat. Univ., Yokohama, Japan
fYear
2014
fDate
18-21 May 2014
Firstpage
1968
Lastpage
1973
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE-ASIA), 2014 International
Conference_Location
Hiroshima
Type
conf
DOI
10.1109/IPEC.2014.6869857
Filename
6869857
Link To Document