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Title:

In-Hand Admittance Controller for a Robotic Assistive Walker Based on Tactile Grasping Feedback

Document type:
Magazinartikel
Author(s):
Shunki Itadera; Gordon Cheng
Abstract:
An intelligent assistive robotic walker can be a tremendous help to patients with mobility disorders, e.g., hemiplegia patients. However, at the same time, a full-size assistive walker could be difficult to steer due to the reduced balancing ability of the patient. An intuitive interface can provide a promising solution to the low operability of such robotized assistive devices. Commonly developed gait assistance methodologies perform real-time adjustment of admittance model parameters in a forw...     »
Journal title:
IEEE Robotics and Automation Letters
Year:
2022
Journal volume:
7
Year / month:
2022-10
Journal issue:
4
Pages contribution:
8845 - 8852
Fulltext / DOI:
doi:10.1109/LRA.2022.3188890
Publisher:
IEEE
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