Real time control of the ASBGo walker through a physical human–robot interface
Autor(a) principal: | |
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Data de Publicação: | 2014 |
Outros Autores: | , , |
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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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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7160 |
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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 |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
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RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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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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1799132764693331968 |