Abstract
As aging progresses, the fall accident of the user of the walker is an acute problem. It is necessary to know the situation of the user's fall to prevent it. In this paper, we propose a method for estimating the user's fall by modeling the user in real time as a solid body and paying attention to the center of gravity of the model. We also propose a method for controlling a passive intelligent walker to prevent the user's fall according to the support polygon and the walking characteristic of the user. The proposed control method is applied to the passive intelligent walker called RT Walker experimentally and experimental results illustrate the validity of it.
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