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ROS-Based Smart Walker with Fuzzy Posture Judgement and Power Assistance.
Chang, Yeong-Hwa; Sahoo, Nilima; Chen, Jing-Yuan; Chuang, Shang-Yi; Lin, Hung-Wei.
Afiliação
  • Chang YH; Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan.
  • Sahoo N; Department of Electrical Engineering, Ming Chi University of Technology, New Taipei City 243, Taiwan.
  • Chen JY; Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan.
  • Chuang SY; Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan.
  • Lin HW; Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan.
Sensors (Basel) ; 21(7)2021 Mar 29.
Article em En | MEDLINE | ID: mdl-33805520
In recent years the increased rate of the aging population has become more serious. With aging, the elderly sometimes inevitably faces many problems which lead to slow walking, unstable or weak limbs and even fall-related injuries. So, it is very important to develop an assistive aid device. In this study, a fuzzy controller-based smart walker with a distributed robot operating system (ROS) framework is designed to assist in independent walking. The combination of Raspberry Pi and PIC microcontroller acts as the control kernel of the proposed device. In addition, the environmental information and user postures can be recognized with the integration of sensors. The sensing data include the road slope, velocity of the walker, and user's grip forces, etc. According to the sensing data, the fuzzy controller can produce an assistive force to make the walker moving more smoothly and safely. Apart from this, a mobile application (App) is designed that allows the user's guardian to view the current status of the smart walker as well as to track the user's location.
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Texto completo: 1 Coleções: 01-internacional Base de dados: MEDLINE Assunto principal: Tecnologia Assistiva / Caminhada Limite: Aged / Humans Idioma: En Revista: Sensors (Basel) Ano de publicação: 2021 Tipo de documento: Article País de afiliação: Taiwan País de publicação: Suíça

Texto completo: 1 Coleções: 01-internacional Base de dados: MEDLINE Assunto principal: Tecnologia Assistiva / Caminhada Limite: Aged / Humans Idioma: En Revista: Sensors (Basel) Ano de publicação: 2021 Tipo de documento: Article País de afiliação: Taiwan País de publicação: Suíça