An intelligent cane walker robot based on force control

Abstract

In this research, an intelligent cane walker robot is proposed to assist walking comfortably and conveniently. Firstly, a dynamic model describing the robot walking is established to analysis the relationship between input from user and output from sensors. Then the user's intention is obtained via the neural network by making the research on application of the movement and analyzing the information of force and status in ordinary cane. The intelligent cane walker robot can be designed in line with user's gait and intention. What's more, the strategy based on the force control is proposed to improve the accuracy of movement. Simulation results of robot movement show that, the strategy is efficient and feasible.