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http://dx.doi.org/10.5391/JKIIS.2008.18.5.692

Optimized Walking Will Recognizing System of the Walking Aid with the Fuzzy Algorithm  

Kong, Jung-Shik (대덕대학 마이크로로봇과)
Lee, Dong-Kwang (한국산업기술대학교 전자공학과)
Nam, Yun-Seok (한국산업기술대학교 메카트로닉스공학과)
Lee, Bo-Hee (세명대학교 전기공학과)
Lee, Eung-Hyuk (한국산업기술대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.18, no.5, 2008 , pp. 692-699 More about this Journal
Abstract
This paper describes optimal operation method using recognition of walker's will for a robotic walker. Recently, walking aid system has been required according to the increase of elder and handicapped person. However, most of walking aid system don't have actuator for its movement. Unfortunately, standard frames have weakness for the movement to upward/download direction of slope. So, active type walking aids are interested, but it is not easy to control. In this paper, we adapt user's will system that can recognize walking direction and speed. First, FSR(Force Sensing Register) is applied to measure user's will to walk. And then, fuzzy algorithm is used for determining optimal wheel velocity and direction of the walking aid. From the result, walking aid can move smoothly and safely following the user's will. The walking aid can help user to walk more optimally. Here, all the processes are verified experimentally in the real world.
Keywords
robotic walker; fuzzy algorithm; optimal walking; will recognition system;
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