A robotic cane for walking assistance

New design and control of a robotic cane have been proposed in this paper. Our robotic cane has been designed so that it moves according to user's small force applied to the cane and it stably supports the user when large force is applied by the user. We confirmed our control and estimation of human force method in 2D and 3D simulation. In this paper, an overview of the design and a robust control method are presented.