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Title: Adaptive Control Method for Path-Tracking Control of an Omni-Directional Walker Compensating for Center-of-Gravity Shifts and Load Changes
Authors: Tan, Renpeng
Wang, Shuoyu
Jiang, Yinlai
Ishida, Kenji
Fujie, Masakatsu G.
Nagano, Masanori
Issue Date: Jul-2011
Publisher: ICIC International
Journal Title: International Journal of Innovative Computing, Information and Control
Volume: 7
Issue: 7(B)
Start Page: 4423
End Page: 4434
Abstract: In previous studies, an omni-directional walker was developed for walking rehabilitation. Walking training programs are stored in the walker so that rehabilitation can be carried out without a physical therapist. However, the walker sometimes strays from the prede ned path because of center-of-gravity shifts and load changes. It is necessary for the walker to precisely follow the paths de ned in the walking training programs to guarantee the effectiveness of rehabilitation and user safety. Therefore, this paper describes a path-tracking control method for the omni-directional walker to compensate for center-of-gravity shifts and load changes. First, the kinematics and kinetics of the omni-directional walker motion are presented. Second, an adaptive control strategy is proposed. Finally, simulations show that the walker can be controlled accurately by using the proposed method.
Rights: ICIC International © 2011
Type: Journal Article
URI: http://hdl.handle.net/10173/1505
Appears in Collections:学術雑誌論文

Please use this identifier to cite or link to this item: http://hdl.handle.net/10173/1505

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