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• W2744996851 abstract "A hierarchical shared-control method of the walking-aid robot for both human motion intention recognition and the obstacle emergency-avoidance method based on artificial potential field (APF) is proposed in this paper. The human motion intention is obtained from the interaction force measurements of the sensory system composed of 4 force-sensing registers (FSR) and a torque sensor. Meanwhile, a laser-range finder (LRF) forward is applied to detect the obstacles and try to guide the operator based on the repulsion force calculated by artificial potential field. An obstacle emergency-avoidance method which comprises different control strategies is also assumed according to the different states of obstacles or emergency cases. To ensure the user’s safety, the hierarchical shared-control method combines the intention recognition method with the obstacle emergency-avoidance method based on the distance between the walking-aid robot and the obstacles. At last, experiments validate the effectiveness of the proposed hierarchical shared-control method." @default.
• W2744996851 created "2017-08-17" @default.
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• W2744996851 date "2017-01-01" @default.
• W2744996851 modified "2023-10-18" @default.
• W2744996851 title "Hierarchical Shared Control of Cane-Type Walking-Aid Robot" @default.
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• W2744996851 doi "https://doi.org/10.1155/2017/8932938" @default.
• W2744996851 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/5574270" @default.
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