hierarchical shared control of cane-type walking-aid robot
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ID: 202127
2017
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Abstract
A hierarchical shared-control method of the walking-aid robot for both human motion intention recognition and the obstacle emergency-avoidance method based on artificial potential field (APF) is proposed in this paper. The human motion intention is obtained from the interaction force measurements of the sensory system composed of 4 force-sensing registers (FSR) and a torque sensor. Meanwhile, a laser-range finder (LRF) forward is applied to detect the obstacles and try to guide the operator based on the repulsion force calculated by artificial potential field. An obstacle emergency-avoidance method which comprises different control strategies is also assumed according to the different states of obstacles or emergency cases. To ensure the user’s safety, the hierarchical shared-control method combines the intention recognition method with the obstacle emergency-avoidance method based on the distance between the walking-aid robot and the obstacles. At last, experiments validate the effectiveness of the proposed hierarchical shared-control method.
| Reference Key |
tao2017journalhierarchical
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|---|---|
| Authors | ;Chunjing Tao;Qingyang Yan;Yitong Li |
| Journal | journal of political philosophy |
| Year | 2017 |
| DOI |
10.1155/2017/8932938
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| URL | |
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