Development of a Holonomic Robotic Wheeled Walker for Persons with Gait Disorder

E. O. Arogunjo, E. Markus, H. Yskandar
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引用次数: 2

Abstract

Gait disorder is a deviation from the smooth and normal walking pattern. Loss of balance which greatly contributes to fall, a prevalent cause of reduced life expectancy and premature death of aging persons, is closely related to a disordered gait. Augmentative assistive mobility devices such as canes, crutches and walkers, have been employed in the rehabilitation of gait dysfunction and other mobility impairments. The rate of abandonment of these devices due to difficulty and cumbersomeness in their usage has recently directed the focus of researchers in the area of design of robotic walkers. This paper presents a review of the different existing literatures in the area of the dynamic model of wheeled mobile robot, human-robot interface design, and control algorithm formulation for assistive mobility tasks as it relates to holonomic robotic walker design.
用于步态障碍患者的完整机器人轮式助行器的研制
步态障碍是一种偏离平稳和正常的行走模式。失去平衡在很大程度上导致跌倒,这是老年人预期寿命缩短和过早死亡的一个普遍原因,与步态紊乱密切相关。辅助行动装置,如手杖、拐杖和助行器,已被用于步态功能障碍和其他行动障碍的康复。由于使用困难和笨重,这些设备的废弃率最近成为研究人员在机器人步行器设计领域的重点。本文综述了轮式移动机器人动力学模型、人机界面设计、辅助移动任务控制算法制定等与完整步行机器人设计相关的研究成果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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