ICRA 2011 Paper Abstract


Paper WeP208.2

Ando, Takeshi (Waseda University), Ogawa, Yu (University of Tokyo), Nakashima, Yasutaka (Waseda University), Ohki, Eiichi (Waseda University), Kobayashi, Yo (Waseda University), Nihei, Misato (the University of Tokyo), Fujie, Masakatsu G. (Waseda University)

Stable Turning Movement of a Gait-Based Personal Mobility “Tread-Walk 1”

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics IV" (WeP208), Wednesday, May 11, 2011, 15:40−15:55, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Rehabilitation Robotics, Medical Robots and Systems


We have been developing the new personal mobility aid, “Tread-Walk 1,” which is controlled by the driver’s walking pace and amplifies walking velocity. The Tread-Walk 1 not only assists mobility but also helps the elderly maintain their physical abilities. However, the turning movement of the Tread-Walk is likely to be unstable, because the Tread-Walk is controlled by walking. In this paper, we focus on the stable turning movement of the Tread-Walk 1. First, we simulate the centrifugal force applied to the driver, which was not considered in our previous report. Then, a new algorithm to realize stable turning movement is established by measuring the driver’s standing position. Finally, the developed algorithm for the turning movement of the Tread-Walk 1 is evaluated by measuring the handle grasping time. With the new algorithm, the Tread-Walk 1 turned steadily and driver did not lose their balance.



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