Abstract
In this paper, we propose two control methods for driving a power-assisted cart made for walking assistance for the elderly. The optimal assistance ratio (OAR) and disturbance observer-based (DOB) methods properly adjust the motor output of the cart with high operational efficiency in response to changes in the environment. Healthy subjects walked with the cart on several road surfaces under various conditions, and the experimental results indicate the high operational efficiency of the two proposed methods. Meanwhile, their drawbacks are also discussed herein. The two methods can be used separately or combined according to the application. The OAR method is more suitable for indoor use, while the DOB method is applicable for outdoor applications. Combining these two methods could overcome the mentioned drawbacks.
Highlights
Disturbance Observer-Based MethodsNowadays, the world is facing the challenge of an aging population
The averaged operational efficiencies for optimal assistance ratio (OAR) and disturbance observer-based (DOB) were significantly different from the ones for the case without assistance and with the default method, while there was no evidential difference between OAR and DOB
Two methods of controlling a power-assisted cart have been proposed for practical use
Summary
Disturbance Observer-Based MethodsNowadays, the world is facing the challenge of an aging population. To help the elderly and handicapped people maintain their independence and avoid social isolation, walking assistance devices such as the lower limb exoskeleton [2], the powered wheelchair [3], and the assistive cane [4] have been developed so far. While the power wheelchair is designed for those who have difficulty walking, the assistive cane provides assistance with guidance for visually impaired people. There is another type of walking assisting device, the power-assisted cart/walker, oriented toward healthy people. If the assistance ratios of the cart are specified properly for indoor use, the user will feel that he or she needs extra force to operate the cart while walking on sand. The road roughness should be carefully dealt with for the daily use of a power-assisted cart
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