A Stabilization Control in Two-Wheeled Walker with Passive Mechanism for Walking Support

Kentaro Ominato, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The aim of this study was to stabilize the posture of a two-wheeled walker in a torque saturated situation during turning. A two-wheeled walker increases the torque of one of the wheels during a turn, which may result in the torque saturation. There was a problem that the posture stability could not be maintained due to this torque saturation. Therefore, this paper proposes to generate a torque reference value in a torque saturation situation when a two-wheeled walker is turning. The simulation in the proposed method was compared with the case without considering the torque saturation. The simulation results showed that both the posture stability and the turning performance were improved. This indicates that the generation of the torque reference value considering the torque saturation is effective. And, we also propose a method to make the two-wheel walker stand still.

Original languageEnglish
Title of host publicationProceedings - IECON 2020
Subtitle of host publication46th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages65-70
Number of pages6
ISBN (Electronic)9781728154145
DOIs
Publication statusPublished - 2020 Oct 18
Event46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
Duration: 2020 Oct 192020 Oct 21

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2020-October

Conference

Conference46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
CountrySingapore
CityVirtual, Singapore
Period20/10/1920/10/21

Keywords

  • Assist Devices
  • Inverted Pendulum
  • Torque Saturation
  • Two-Wheeled Walker
  • Walking Support

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'A Stabilization Control in Two-Wheeled Walker with Passive Mechanism for Walking Support'. Together they form a unique fingerprint.

Cite this