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KMID : 1137820100310020162
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의공학회지
2010 Volume.31 No. 2 p.162 ~ p.169
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Walking Will Recognition Algorithm for Walking Aids Based on Torque Estimation
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Kong Jung-Shik
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Abstract
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This paper deals with the recognition algorithm of walking will based on torque estimation. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don’t have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to control aids during its movement, because it is not easy to recognize user’s walking will. Many kinds of methods are proposed to recognize of user’s walking will. In this paper, we propose walking will recognition algorithm by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Here, all the processes are verified by simulation and experiment in the real world.
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KEYWORD
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Walking Aid, Torque Estimation, Walking Will Force, Torque Observer
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