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Motion control of omni-directional type cane robot based on human intention

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4 Author(s)
Huang, Jian ; Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya ; Pei Di ; Fukuda, T. ; Matsuno, T.

A three-wheeled omni-directional cane robot is designed for aiding the elderly walking. Possible move modes are analyzed and a corresponding hybrid model is constructed to describe walking behavior. A concept called intentional direction is presented to denote the moving intention of a human. Based on experiments and some assumptions, dynamic model of intentional direction is obtained as well as its online estimation method. A new admittance control scheme is presented based on intentional direction, which provides natural and intuitive human machine interface. Experiment results show the effectiveness of the design.

Published in:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008