Concept and prototype development of adaptive touch walking support robot for maximizing human physical potential

Terayama, Junya, Ravankar, Ankit A., Luces, Jose Victorio Salazar, Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144 and Hirata, Yasuhisa 2024. Concept and prototype development of adaptive touch walking support robot for maximizing human physical potential. IEEE Robotics and Automation Letters 9 (8) , pp. 6935-6942. 10.1109/LRA.2024.3415928

Preview

PDF - Accepted Post-Print Version Download (4MB) | Preview

Abstract

We propose a new walking support robot concept, “Nimbus Guardian,” designed to enhance the mobility of both healthy and frail elderly individuals who can walk independently. The proposed robot differs from traditional walker-type or cane-type aids by offering adaptive, minimal touch support based on the user's walking dynamics. Our goal is to realize versatile touch to the user as a preliminary study for developing the adaptive touch walking support robot. To achieve this, we have established a categorization system for walking support touch, outlining the specific types of assistance required for our robot. Based on these categorization, we have developed a prototype that improves the versatility of touch support (touch point, force, and initiator), adapting to the user's body. Our prototype is equipped to offer multiple touch support parts, adjusting to the user's physique. For versatile touch capabilities, we designed a motion control algorithm that includes a controller which directs the robot's wheel movements according to the chosen support points, and a state machine that provides multiple arm placements and movements. We have experimentally implemented this motion control algorithm in our prototype. Through experiments, we verified the touch versatility and discussed the prototype's utility and potential for further development.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Engineering
Publisher:	Institute of Electrical and Electronics Engineers
ISSN:	2377-3766
Funders:	JST Moonshot R&D Grant Number JPMJMS2034, JST SPRING Grant Number JPMJSP2114 and JSPS KAKENHI Grant Number JP23KJ0104 & JP21K14115
Date of First Compliant Deposit:	2 July 2024
Date of Acceptance:	2 June 2024
Last Modified:	09 Nov 2024 15:30
URI:	https://orca.cardiff.ac.uk/id/eprint/169899

Actions (repository staff only)

Edit Item