Abstract
Walking is a fundamental ability necessary for everyday life. In this paper, an omni-directional walker (ODW), which can support people with walking disabilities to perform indoor walking and rehabilitation, is introduced. To control the ODW's movement toward the direction in which the user intends to go during walking support, an adaptive control method is proposed. We simulate the walker's movement along the path generated based on the results of directional intention identification. Simulation results show the ODW can accurately following the user's intention direction, which shows the feasibility and effectiveness of the proposed scheme.
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