An intent-based control approach for an intelligent mobility aid

Authors:
Wuxiao Zhou;Li Xu;Jie Yang
Affiliations:
College of Electrical Engineering, Zhejiang University, Hangzhou, P.R. China;College of Electrical Engineering, Zhejiang University, Hangzhou, P.R. China;School of Civil Engineering and Architectures, Zhejiang University of Science & Technology, Hangzhou, P.R. China
Venue:
CAR'10 Proceedings of the 2nd international Asia conference on Informatics in control, automation and robotics - Volume 2
Year:
2010

Citing 4
Cited 1

An assistive robotic agent for pedestrian mobility

Proceedings of the fifth international conference on Autonomous agents
An Adaptive Shared Control System for an Intelligent Mobility Aid for the Elderly

Autonomous Robots
Care-O-bot II—Development of a Next Generation Robotic Home Assistant

Autonomous Robots
A Control Approach Based on Passive Behavior to Enhance User Interaction

IEEE Transactions on Robotics

Assistive mobility devices focusing on Smart Walkers: Classification and review

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

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.