Real time control of the ASBGo walker through a physical human–robot interface

Detalhes bibliográficos
Autor(a) principal: Martins, Maria M.
Data de Publicação: 2014
Outros Autores: Santos, Cristina, Frizera, Anselmo, Ceres, Ramón
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/1822/26675
Resumo: Available online 5 November 2013
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spelling Real time control of the ASBGo walker through a physical human–robot interfaceAssistive mobilitySmart walkersFuzzy controlScience & TechnologyAvailable online 5 November 2013In this work it is presented the development of the conceptual design, implementation and validation of a Smart walker with an inexpensive integrated interface. This interface is based on a joystick and it intends to extract the user’s command intentions. Preliminary sets of experiments were performed which showed the sensibility of the joystick to extract navigation commands from the user. These signals presented a higher frequency component that was attenuated by a Benedict–Bordner g–h filter. The resulting interaction signals are then classified and converted into motor commands through a fuzzy logic controller. Additionally, the detection of possible falls and instability of the user was also one of the aims integrated onto the overall system architecture. Results have shown that the resultant movement of the walker was constant and safe without bumps. Short enquiries to the users have provided positive feedback about the device maneuverability in terms of easiness to use.This work is financed by FEDER Funds and through "Programa Operacional Fatores de Competitividade'' COMPETE and by National Funds through FCT - "Fundacao para a Ciencia e Tecnologia'' under the Project: FCOMP-01-0124-FEDER-022674. Work supported by Portuguese Science Foundation (grant SFRH/BD/76097/2011).ElsevierUniversidade do MinhoMartins, Maria M.Santos, CristinaFrizera, AnselmoCeres, Ramón2014-022014-02-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/1822/26675eng0263-224110.1016/j.measurement.2013.10.031http://dx.doi.org/10.1016/j.measurement.2013.10.031info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-07-21T12:32:01Zoai:repositorium.sdum.uminho.pt:1822/26675Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:27:19.519842Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Real time control of the ASBGo walker through a physical human–robot interface
title Real time control of the ASBGo walker through a physical human–robot interface
spellingShingle Real time control of the ASBGo walker through a physical human–robot interface
Martins, Maria M.
Assistive mobility
Smart walkers
Fuzzy control
Science & Technology
title_short Real time control of the ASBGo walker through a physical human–robot interface
title_full Real time control of the ASBGo walker through a physical human–robot interface
title_fullStr Real time control of the ASBGo walker through a physical human–robot interface
title_full_unstemmed Real time control of the ASBGo walker through a physical human–robot interface
title_sort Real time control of the ASBGo walker through a physical human–robot interface
author Martins, Maria M.
author_facet Martins, Maria M.
Santos, Cristina
Frizera, Anselmo
Ceres, Ramón
author_role author
author2 Santos, Cristina
Frizera, Anselmo
Ceres, Ramón
author2_role author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Martins, Maria M.
Santos, Cristina
Frizera, Anselmo
Ceres, Ramón
dc.subject.por.fl_str_mv Assistive mobility
Smart walkers
Fuzzy control
Science & Technology
topic Assistive mobility
Smart walkers
Fuzzy control
Science & Technology
description Available online 5 November 2013
publishDate 2014
dc.date.none.fl_str_mv 2014-02
2014-02-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/1822/26675
url http://hdl.handle.net/1822/26675
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 0263-2241
10.1016/j.measurement.2013.10.031
http://dx.doi.org/10.1016/j.measurement.2013.10.031
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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