In order to develop assistive devices that involve physical human–robot interaction, a dynamical model of the human and the robot should be considered. This paper proposes a coupled dynamic model for human walking with a wheeled robotic walker together with a built-in fuzzy controller on the human model. The 2-D linear inverted pendulum mode is used to model human walking coupled through a parallel linear spring and damper to the walker robot. In order to generate a stable walking pattern, a fuzzy controller is implemented. The controller performance is compared to a conventional PID controller, and the results are validated with the experimental data of human walking along with a wheeled walker for ﬁve healthy subjects. The proposed model can be utilized in developing controllers for robotic walkers that consider the user’s dynamics. Keywords Coupled dynamic modeling Linear inverted pendulum mode (LIPM) Wheeled walker Fuzzy control 1 Introduction improve his/her stepping and also decrease the necessity of using wheelchairs. They also increase in the feeling of There are many elderly and handicapped people suffering security in walking and therefore motivate them to walk from various physical and mental disabilities that need more and more naturally; this
Iranian Journal of Science and Technology, Transactions of Mechanical Engineering – Springer Journals
Published: May 30, 2018
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