Development of intention detection and control system for robot walking helper

• Main Authors: Zih-Lun Huang, 黃子倫
• Other Authors: Chun-Hsu Ko
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/54dfce

碩士 === 義守大學 === 電機工程學系 === 104 === With growing elderly population in the society, robot walking helpers play an important role in improving the activities of daily living of the elders. Since the elders might be weak in their maneuvering and walking abilities, effective maneuver and guidance are very crucial for robot walking helpers. In the thesis, we develop an intention detection and passive control system for a robot walking helper. An image recognition scheme is first used to derive user’s walking intention from the gait information in real time. The passive control method is then applied to generate the braking torque for safely guiding the robot walking helper to follow user’s walking direction. The simulations and experiments are conducted to demonstrate the effectiveness of the proposed system.