Motion Control and Fall Detection of Intelligent Cane Robot

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• 作者：Toshio Fukuda (7)
  Jian Huang (8)
  Pei Di (7)
  Kosuge Sekiyama (7)
  
  7. Key Laboratory of Image Processing and Intelligent Control ; School of Automation ; Huazhong University of Science and Technology ; No. 1037 ; Luoyu Road ; 430074 ; Wuhan ; Hubei ; China
  8. Department of Micro-Nano Systems Engineering ; Nagoya University ; Furo-cho ; Chikusa-ku ; Nagoya ; 464-8603 ; Japan
  
• 关键词：Intelligent Cane Robot ; Intention Estimation ; Admittance Control ; Fall Detection ; Zero Moment Point (ZMP) ; Possibility Theory
• 刊名：Springer Tracts in Advanced Robotics
• 出版年：2015
• 出版时间：2015
• 年：2015
• 卷：106
• 期：1
• 页码：317-337
• 全文大小：2,085 KB
• 参考文献：1. Dubowsky, S., Genot, F., Godding, S.K., Skwersky, H.A. (2000) PAMM-a robotic aid to the elderly for mobility assistance and monitoring: A helping-hand for the elderly. IEEE International Conference on Robotics and Automation. IEEE Press, New York, pp. 570-576
  2. Hirata, Y., Baba, T., Kosuge, K. (2003) Motion control of omni-directional type walking support system walking helper. The 12th IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN). IEEE Press, New York, pp. 85-90
  3. Rentschler, A.J., Cooper, R.A., Blaschm, B., Boninger, M.L. (2003) Intelligent walkers for the elderly performance and safety testing of vapamaid robotic walker. Journal of Rehabilitation Research and Development 40: pp. 423-432 CrossRef
  4. Hirata, Y., Hara, A., Kosuge, K. (2004) Passive-type intelligent walking support system 鈥淩T Walker鈥? IEEE International Conference on Intelligent Robots and Systems (IROS). IEEE Press, New York, pp. 3871-3876
  5. Yu, H., Spenko, M., Dubowsky, S. (2003) An Adaptive Shared Control System for an Intelligent Mobility Aid for the Elderly. Auton. Robots 15: pp. 53-66 CrossRef
  6. Soai Co. Ltd., http://www.soai-net.co.jp/
  7. Hirata, Y., Muraki, A., Kosuge, K. (2006) Motion Control of Intelligent Passive-type Walker for Fall-prevention Function based on Estimation of User State. IEEE International Conference on Robotics and Automation (ICRA). IEEE Press, New York, pp. 3498-3503
  8. Wakita, K., Huang, J., Di, P., Fukuda, T., Sekiyama, K. (2013) Human Walking Intention Based Motion Control of Omni-directional Type Cane Robot. IEEE/ASME Trans. Mechtronics 18: pp. 285-296 CrossRef
  9. Xie, L., Soh, Y.C., Souza, C.E. (1994) Robust Kalman Filtering for Uncertain Discrete-time Systems. IEEE Trans. Automat. Contr. 39: pp. 1310-1314 CrossRef
  10. Dubois, S., Prade, H. (2003) Possibility Theory and Its Applications: A Retrospective and Prospective View. IEEE International Conference on Fussy Systems. IEEE Press, New York, pp. 25-28
  
• 作者单位：Intelligent Assistive Robots
• 丛书名：978-3-319-12921-1
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Control Engineering
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1610-742X

文摘

An intelligent cane robot was designed for aiding the elderly and handicapped people walking. The robot consists of a stick, a group of sensors and an omni-directional basis driven by three Swedish wheels. Multiple sensors were used to recognize the user鈥檚 鈥渨alking intention鈥? which is quantitatively described by a new concept called intentional direction (ITD). Based on the guidance of filtered ITD, a novel intention-based admittance motion control (IBAC) scheme was proposed for the cane robot. The experiment results demonstrated that the user feels more natural and comfortable when walking with the assistance of cane robot controlled by the IBAC strategy. To detect the fall of user, a detection method based on Dubois possibility theory was proposed using the combined sensor information from force sensors and a laser ranger finder (LRF) fixed on the cane robot. The human fall model was represented in a two-dimensional space, where the relative position between the Zero-Moment-Point (ZMP) and the center of support triangle was utilized as a significant feature. The effectiveness of proposed fall detection method was also confirmed by experiments.