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http://dx.doi.org/10.5391/JKIIS.2010.20.2.181

A Study on the Control Algorithm for Active Walking Aids by Using Torque Estimation  

Kong, Jung-Shik (인덕대학 기계설계과)
Lee, Bo-Hee (세명대학교 전기공학과)
Lee, Eung-Hyuk (한국산업기술대학교 전자공학과)
Choi, Heung-Ho (인제대학교 의용공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.2, 2010 , pp. 181-188 More about this Journal
Abstract
This paper presents the control algorithm of active walking aids estimating external torque of the wheels from user's will. Nowadays, interest of the walking aids is increased according to the increase in population of elder and handicapped person. Although many walking aids are developed, most of walking aids don't have any actuators for its movement. However, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to precision control of walking will during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose control algorithm of walking aids by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Finally, walking aids are controlled by these data. Here, all the processes are verified by simulation.
Keywords
Walking Aids; Torque Estimation; Walking Will; Wheel Velocity; Wheel Control;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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