A turning control of electric wheeled walker device by PSD camera information

Daisuke Saito, Toshiyuki Murakami

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

3 Citations (Scopus)

Abstract

Recently, elderly people who cannot walk well often use a wheeled walker with four omnidirectional wheels. However, the wheeled walker causes a fall due to the wheels. To be specific, user falls down when the wheeled walker moves different from user. For example turning, stopping and so on. Then, in order to prevent the accidents, electric wheeled walker device (EWWD) is being researched all over the world. EWWD I proposed can move with same velocity as user's one. PSD camera on EWWD can detect relative position between PSD camera and LED light on the feet. However proposed EWWD could go only straight. In this paper, turning system of the EWWD is presented. Proposed turning system of EWWD utilizes center of gravity (COG) position of feet. Weighting function which depends on COG position determines the turning angle. Turning system is evaluated by experiments.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages616-620
Number of pages5
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Keywords

  • disturbance observer
  • gait-training equipment
  • turning system
  • walking support
  • wheeled walker

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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