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http://dx.doi.org/10.5302/J.ICROS.2011.17.5.505

An Automatic Speed Control System of a Treadmill with Ultrasonic Sensors  

Auralius, Manurung (Gyeongsang National University)
Yoon, Jung-Won (Gyeongsang National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.5, 2011 , pp. 505-511 More about this Journal
Abstract
In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.
Keywords
treadmill; virtual reality; velocity adaptation; and ultrasonic sensors;
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Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 0
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