Directional control of an omnidirectional walking support walker: adaptation to individual differences with fuzzy learning

作者：Jiang Yinlai^*; Wang Shuoyu; Ishida Kenji; Kobayashi Yo; Fujie Masakatsu G

来源：Advanced Robotics, 2014, 28(7): 479-485.

DOI：10.1080/01691864.2013.876935

• fuzzy learning
• omnidirectional walker
• human robot interface
• directional control
• forearm pressure

We are developing a method to recognize a user's directional intention to control an omnidirectional walker (ODW) according to the force interaction between the ODW and the user. Since the characteristics in the force interaction are different among persons especially for those with walking difficulty, a fuzzy learning method is developed in this study to adapt to the individual difference in forearm pressures in order to improve the usability of the method. The experiment results show that fuzzy learning can significantly improve the accuracy of recognition by updating the fuzzy rules according to the characteristics in the force interaction.

• 出版日期2014-4-3