Cooperation control of ITP with human based inertial measurement unit

Abstract

With the increase in aging population of many developed countries, the demand of walking or standing up assist device has grown. This paper presents structure and control system of novel assist device, Intelligent Tension Pole (ITP), to assist walking and standing up in room considered supporting for self-reliance, space saving, and stability. Two-wheel and one-wheel are added to lower and upper ends of tension pole collectively, and ball screw is added to move while stretching to floor and ceiling under various conditions. In addition, cooperation control of ITP with human based Ineatial Measurement Unit (IMU) to assist walking is introduced in this paper. Experiments are done to verify the effectiveness of proposed control system.