A passive guidance system for a robotic walking assistant using brakes
- 1 December 2015
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 829-834
- https://doi.org/10.1109/cdc.2015.7402332
Abstract
Robotic walkers are a promising techological direction to improve the mobility of older adults. In this paper, we propose a guidance mechanism based on the differential actions of two brakes located on the rear wheels. The guidance problem can be seen as a complex dynamic path following problem, with limited control authority in the actuators and with important constraints on the user comfort. We cast the problem into an optimisation framework and propose a computationally efficient solution that can be implemented on low cost devices with limited computing power. Simulation results are presented to validate the proposed approach.Keywords
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