Directional control of an omnidirectional walking support walker: adaptation to individual differences with fuzzy learning

Abstract

AbstractWe are developing a method to recognize a user’s directional intention to control an omnidirectional walker (ODW) according to the force interaction between the ODW and the user. Since the characteristics in the force interaction are different among persons especially for those with walking difficulty, a fuzzy learning method is developed in this study to adapt to the individual difference in forearm pressures in order to improve the usability of the method. The experiment results show that fuzzy learning can significantly improve the accuracy of recognition by updating the fuzzy rules according to the characteristics in the force interaction.Keywords: directional controlforearm pressurefuzzy learninghuman robot interfaceomnidirectional walker AcknowledgementsThis work is supported by Grants-in-Aid for Scientific Research Nos. 24300203, 22300197, and 23240088 from the Japan Society for the Promotion of Science.