Abstract
This paper presents the application of a mobile robot designed as an Assistant Personal Robot (APR) as a walk-helper tool. The hypothesis is that the height and weight of this mobile robot can be used also to provide a dynamic physical support and guidance to people while they walk. This functionality is presented as a soft walking aid at home but not as a substitute of an assistive cane or a walker device, which may withstand higher weights and provide better stability during a walking. The APR operates as a walk-helper tool by providing user interaction using the original arms of the mobile robot and by using the onboard sensors of the mobile robot in order to avoid obstacles and guide the walking through free areas. The results of the experiments conducted with the walk-helper have showed the automatic generation of smooth walking trajectories and a reduction in the number of manual trajectory corrections required to complete a walking displacement.
Highlights
The constant technological advances and achievements in human-oriented health sciences has contributed to improve the quality of life of people and has contributed to increase the numbers of the elderly population above 65 years old [1]
During the tests the laser imaging detection and ranging (LIDAR) raw data, the trajectory measured with the encoders of the wheels, and the information of the servomotors was logged in order to enable the representation the wheels, and the information of the servomotors was logged in order to enable the representation of of the walking trajectory
This paper presents the extension of the application of an Assistant Personal Robot as a walk-helper tool
Summary
The constant technological advances and achievements in human-oriented health sciences has contributed to improve the quality of life of people and has contributed to increase the numbers of the elderly population above 65 years old [1]. Other reference works include that of Nejatbkhsh et al [20] who proposed the use of an omnidirectional motion system for optimal guidance, Yu et al [21] who proposed a kinematic adaptation of the robotic walker to the user gait and formation by using a dedicated laser range sensor to detect user legs, and Valadão et al [22] who proposed a kinematic controller for a robot walker based on user pose and interaction In another direction, Hou et al [23] proposed the development of an electric energy model applied to increase the reliability and autonomy of a mobile robot. The walk-helper will not have application as a standard will not have application as a standard walker replacement because its larger base support provides great stability in case of severe mobility impairments which is not the objective of the proposed walkhelper application.because its larger base support provides great stability in case of severe mobility walker replacement impairments which is not the objective of the proposed walk-helper application
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
