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An Intelligent Robotic Walker: Mechanical Design and Control System

[+] Author Affiliations
E. Faruk Kececi, Gang Tao

University of Virginia, Charlottesville, VA

Paper No. IMECE2002-32665, pp. 795-802; 8 pages
doi:10.1115/IMECE2002-32665
From:
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME

abstract

This paper presents the mechanical and control system design of a mobile robot designed as a mobility aid for the elderly. Today, with advanced computer control and robotics technologies it is possible to design more intelligent robots, which can help elderly people in their dally life tasks. We have designed an intelligent robotic walker. The main functions of this advanced walker are: following its path with observed control, changing its structural shape to prevent unbalancing the user when walking on a slope, and braking to stop the user falling down. The base of the robot is considered another linkage in the manipulator system, in the adoption of the robot to the slope.A simulation of the system shows the effectiveness of the proposed control method.

Copyright © 2002 by ASME

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