Design and control of JAIST active robotic walker

摘要

This paper presents the design and control of a novel assistive robotic walker that we call “JAIST active robotic walker (JARoW)”. JARoW is developed to provide potential users with sufficient ambulatory capability in an efficient, cost-effective way. Specifically, our focus is placed on how to allow easier maneuverability by creating a natural interface between the user and JARoW. For the purpose, we develop a rotating infrared sensor to detect the user’s lower limb movement. The implementation details of the JARoW control algorithms based on the sensor measurements are explained, and the effectiveness of the proposed algorithms is verified through experiments. Our results confirmed that JARoW can autonomously adjust its motion direction and velocity according to the user’s walking behavior without requiring any additional user effort.