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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9064

Title: Design and Control of JAIST Active Robotic Walker
Authors: Lee, Geunho
Ohnuma, Takanori
Chong, Nak Young
Keywords: Welfare robotics
Active Walker
Natural Interface
Proximity sensor
Easy maneuverability
Issue Date: 2010-07
Publisher: Springer
Magazine name: Journal of Intelligent Service Robotics
Volume: 3
Number: 3
Start page: 125
End page: 135
DOI: 10.1007/s11370-010-0064-5
Abstract: This paper presents the design and control of a novel assistive robotic walker that we call “JAIST activerobotic walker (JARoW)”. JARoW is developed to providepotential users with sufficient ambulatory capability in anefficient、 cost-effective way. Specifically、 our focus is placed on how to allow easier maneuverability by creating a natural interface between the user and JARoW. For the purpose、 we develop a rotating infrared sensor to detect the user’s lower limb movement. The implementation details of the JARoW control algorithms based on the sensor measurements are explained、 and the effectiveness of the proposed algorithms is verified through experiments. Our results confirmed that JARoW can autonomously adjust its motion direction and velocity according to the user’s walking behavior without requiring any additional user effort.
Rights: This is the author-created version of Springer, Geunho Lee, Takanori Ohnuma, and Nak Young Chong, Journal of Intelligent Service Robotics, 3(3), 2010, 125-135. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11370-010-0064-5
URI: http://hdl.handle.net/10119/9064
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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