Novel walking assist device based on generic human motion tracking criteria

Kamal Mohy El Dine, Chuan Yang, Takahiro Nozaki, Toshiyuki Murakami

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

2 Citations (Scopus)

Abstract

Replacing nurses and caregivers by human-friendly robots is drawing the attention of the next generation for elderly people assistance and those with special needs. However, the human-machine cooperative control is still a key challenge in this domain. This paper presents a new approach for walking assist control that uses Inertial Measurement Units (IMUs) fixed on elderly people's body to track their posture and estimate its Center Of Mass (COM) and Zero-Moment Point (ZMP) motions to be used by a differential mobile robot that synchronize with the user's walking motion. Furthermore, a manipulator mounted on the mobile device to support the users from their back, help them walk, and assist in dangerous situations. In this study, the walking is divided into phases according to the falling index defined, and the impedance of the manipulator is changed based on the stability of the situation. Experiments of the walking assist control were carried out, and by their results the validity of the proposed approach is confirmed and the fall avoidance is realized.

Original languageEnglish
Title of host publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages38-43
Number of pages6
ISBN (Electronic)9781479984640
DOIs
Publication statusPublished - 2016 Jun 20
Event14th IEEE International Workshop on Advanced Motion Control, AMC 2016 - Auckland, New Zealand
Duration: 2016 Apr 222016 Apr 24

Other

Other14th IEEE International Workshop on Advanced Motion Control, AMC 2016
CountryNew Zealand
CityAuckland
Period16/4/2216/4/24

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

El Dine, K. M., Yang, C., Nozaki, T., & Murakami, T. (2016). Novel walking assist device based on generic human motion tracking criteria. In 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016 (pp. 38-43). [7496325] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2016.7496325