Assistive robotic walker parameter identification for estimation of human thrust without force sensors

Antonino Sferlazza, Daniele Fontanelli, Luigi Palopoli, Stefano Divan, Marco Andreetto

Risultato della ricerca: Otherpeer review

Abstract

In this paper we propose a parameter identification procedure for the wheel-motor dynamic of a robotic walker, i.e. a commercial trolley for elderly people endowed with cognitive, sensing and guidance capabilities. The objective of the wheel-motor dynamic model is to generate a suitable time reference to be used in an estimation algorithm. The ultimate goal of the estimation algorithm is to retrieve the thrust, i.e.Torque and force, that the older adult user of the robotic walker applies to the platform. These quantities are of paramount importance in order to adopt intelligent and comfortable walker guidance algorithms. The novelty of this approach is the avoidance of additional costly sensors that are usually used to solve such a problem. Experimental results are reported to show the effectiveness of the proposed approach.
Lingua originaleEnglish
Pagine1-6
Numero di pagine6
Stato di pubblicazionePublished - 2017

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Computer Science Applications
  • Energy Engineering and Power Technology
  • Industrial and Manufacturing Engineering
  • Health(social science)
  • Management of Technology and Innovation
  • Artificial Intelligence

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