The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Detection of Implicit Walking Intention for Walking-assistant Robot Based on Analysis of Bio/Kinesthetic Sensor Signals

보행보조로봇을 위한 다중 생체/역학 센서의 신호 분석 및 사용자 의도 감지

  • 장은혜 (한국전자통신연구원 융합기술연구부문 로봇/인지지스템 연구부 인지기술연구팀) ;
  • 전병태 (한경대학교 웹정보공학과) ;
  • 지수영 (한국전자통신연구원 융합기술연구부문 로봇/인지지스템 연구부 인지기술연구팀) ;
  • 이재연 (한국전자통신연구원 융합기술연구부문 로봇/인지지스템 연구부 인지기술연구팀) ;
  • 조영조 (한국전자통신연구원 융합기술연구부문 로봇/인지지스템 연구부 인지기술연구팀)
  • Received : 2010.07.07
  • Accepted : 2010.09.17
  • Published : 2010.11.30
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Abstract

In order to produce a convenient robot for the aged and the lower limb disabled, it is needed for the research detecting implicit walking intention and controlling robot by a user's intention. In this study, we developed sensor module system to control the walking- assist robot using FSR sensor and tilt sensor, and analyzed the signals being acquired from two sensors. The sensor module system consisted of the assist device control unit, communication unit by wire/wireless, information collection unit, information operation unit, and information processing PC which handles integrated processing of assist device control. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We could recognize the more detailed user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.

Keywords

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