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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/11578

Title: Walking Intent-Based Movement Control for JAIST Active Robotic Walker
Authors: Lee, Geunho
Ohnuma, Takanori
Chong, Nak Young
Lee, Soon-Geul
Keywords: Easy maneuverability
human-robot interaction
robotic walker
walking intent
welfare robotics
Issue Date: 2013-07-25
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume: 44
Number: 5
Start page: 665
End page: 672
DOI: 10.1109/TSMC.2013.2270225
Abstract: This paper presents a novel interactive control for our assistive robotic walker, the JAIST Active Robotic Walker (JARoW), developed for elderly people in need of assistance. The aim of our research is to recognize characteristics of the user’s gait and to generate the movement of JARoW accordingly. Specifically, the proposed control enables JARoW to accurately generate the direction and velocity of its movement in a way that corresponds to the user’s variable walking behaviors. The algorithm and implementation of the control are explained in detail, and the effectiveness and usability of JARoW are verified through extensive experiments in everyday environments.
Rights: This is the author's version of the work. Copyright (C) 2013 IEEE. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 44(5), 2013, 665 - 672. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/11578
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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