Abstract
The intelligent Elderly-assistant & Walking-assistant equipment known currently has some problems widely. For example, the function of robot is signal; the human-computer interaction is not natural; the security is not perfect, and so on. In this paper, a multifunctional elderly-assistant & walking-assistant robot (EWR) is investigated, which can communicate naturally with users through the tactile-slip sensation, and more security has been considered. At first, the mechanical structure of this robot has been designed, which can realize not only running like an intelligent wheelchair but also can assist in walking like a smart walking stick. In order to improve the safety performance of this robot, the annular and split armrest device which's structure can be fixed by a lock has been designed. Besides, the center of gravity of this machine is optimized. Then, a natural man-machine interactive control method is presented, which is based on the tactile-slip sensation, so that the robot can perceive the user's motion purpose through the tactile-slip sensation installed on the handles. The tactile pressure signals and slipping signal can be used to realize differential steering control of this robot. In addition, the variation of the pressure signals can be used to change the motor's speed in a smaller range which can achieve the kindliness of man-machine coordinated.
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