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Authors: M. Martins 1 ; A. Frizera 2 ; C. Santos 1 and R. Ceres 3

Affiliations: 1 Universidade do Minho, Portugal ; 2 Universidade Federal do Espírito Santo, Brazil ; 3 Consejo Superior de Investigaciones Científicas, Spain

Keyword(s): Smart Walker, Assistive Mobility, Fuzzy Control.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Fuzzy Control ; Fuzzy Systems ; Human-Machine Interfaces ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Real-Time Systems Control ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Soft Computing

Abstract: In this work is presented the NeoASAS walker including its conceptual design, implementation and validation with a new interface approach integrated. This interface is based on a joystick and it is intended to extract the user’s movement intentions. Eleven healthy users performed preliminary sets of experiments with the walker, which showed the sensibility of the joystick to extract command intentions from the user. These signals presented a higher frequency component that was attenuated by a Benedict-Bordner filter. Then, an approach to the control architecture was developed, in order to obtain stable and safe user assistance. This control architecture is based on a fuzzy logic control that allows the control of the walkers’ motors. Thus, an assistive device to provide safety and natural manoeuvrability was conceived and offers a certain degree of intelligence in assistance and decision-making. The motivation is that this will contribute to improve rehabilitation purposes by promoti ng ambulatory daily exercises and thus extend users’ independent living. (More)

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Paper citation in several formats:
Martins, M.; Frizera, A.; Santos, C. and Ceres, R. (2012). Smart Walker Control through the Inference of the User’s Command Intentions. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-21-1; ISSN 2184-2809, SciTePress, pages 458-463. DOI: 10.5220/0004028704580463

@conference{icinco12,
author={M. Martins. and A. Frizera. and C. Santos. and R. Ceres.},
title={Smart Walker Control through the Inference of the User’s Command Intentions},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2012},
pages={458-463},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004028704580463},
isbn={978-989-8565-21-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Smart Walker Control through the Inference of the User’s Command Intentions
SN - 978-989-8565-21-1
IS - 2184-2809
AU - Martins, M.
AU - Frizera, A.
AU - Santos, C.
AU - Ceres, R.
PY - 2012
SP - 458
EP - 463
DO - 10.5220/0004028704580463
PB - SciTePress