An intent-based control approach for an intelligent mobility aid
- 1 March 2010
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 54-57
- https://doi.org/10.1109/car.2010.5456618
Abstract
A prototype of an intelligent mobility aid, ZJU Walker, is designed to help the elderly walk easily, safely and independently. This paper proposes a control approach based on walking intent to control the motion of ZJU Walker. Walking intent is described in a 3D intent space which consists of directional intent, pace intent and rotary intent. Extraction of walking intent from a user's operations on the handles is implemented by the nearest neighbor algorithm. An intent-based user-oriented dynamic model is employed to activate a smooth control and to meet a user's requirements in the different stages of motion. Experimental results are presented to show the validity of the proposed control approach.Keywords
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