A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications
Source abstract
Abstract
In this paper, we propose two control methods for driving a power-assisted cart made for walking assistance for the elderly. The optimal assistance ratio (OAR) and disturbance observer-based (DOB) methods properly adjust the motor output of the cart with high operational efficiency in response to changes in the environment. Healthy subjects walked with the cart on several road surfaces under various conditions, and the experimental results indicate the high operational efficiency of the two proposed methods. Meanwhile, their drawbacks are also discussed herein. The two methods can be used separately or combined according to the application. The OAR method is more suitable for indoor use, while the DOB method is applicable for outdoor applications. Combining these two methods could overcome the mentioned drawbacks.
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Research context
OpenAlex topics: Assistive Technology in Communication and Mobility · Prosthetics and Rehabilitation Robotics · Balance, Gait, and Falls Prevention
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Affiliations
Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto Daigaku-Katsura, Nishikyo-ku, Kyoto 615-8530, Japan
References (37)
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