Smart Walker Control through the Inference of the User’s Command Intentions

M. Martins, A. Frizera, C. Santos, R. Ceres

Abstract

In this work is presented the NeoASAS walker including its conceptual design, implementation and validation with a new interface approach integrated. This interface is based on a joystick and it is intended to extract the user’s movement intentions. Eleven healthy users performed preliminary sets of experiments with the walker, which showed the sensibility of the joystick to extract command intentions from the user. These signals presented a higher frequency component that was attenuated by a Benedict-Bordner filter. Then, an approach to the control architecture was developed, in order to obtain stable and safe user assistance. This control architecture is based on a fuzzy logic control that allows the control of the walkers’ motors. Thus, an assistive device to provide safety and natural manoeuvrability was conceived and offers a certain degree of intelligence in assistance and decision-making. The motivation is that this will contribute to improve rehabilitation purposes by promoting ambulatory daily exercises and thus extend users’ independent living.

References

  1. Martins, M., Frizera, A., Santos, C., Ceres, R., (2011). Assistive Mobility Devices focusing on Smart Walkers: Classification and Review. Robotics and Autonomous Systems. DOI: 10.1016/j.robot.2011.11. 015.
  2. Frizera, A., Gallego, J., Rocon, E., Pons, J., Ceres, R., (2010). Extraction of user's navigation commands from upper body force interaction in walker assisted gait. BioMedical Engineering Online, 9(37), 1-16.
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Paper Citation


in Harvard Style

Martins M., Frizera A., Santos C. and Ceres R. (2012). Smart Walker Control through the Inference of the User’s Command Intentions . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 458-463. DOI: 10.5220/0004028704580463


in Bibtex Style

@conference{icinco12,
author={M. Martins and A. Frizera and C. Santos and R. Ceres},
title={Smart Walker Control through the Inference of the User’s Command Intentions},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={458-463},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004028704580463},
isbn={978-989-8565-21-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Smart Walker Control through the Inference of the User’s Command Intentions
SN - 978-989-8565-21-1
AU - Martins M.
AU - Frizera A.
AU - Santos C.
AU - Ceres R.
PY - 2012
SP - 458
EP - 463
DO - 10.5220/0004028704580463