Adaptive Command and Generalization to Locomotion Aid Systems

Abstract

Due to technical progress and to the growth of the dependent population in our society (elderly and/or handicapped people), needs in advanced technical aids represent a great challenge for robotics. This article presents a study about technical systems for locomotion aid integrating robotic process and adaptive neural controller. The system specificities are an automatic auto-adaptation of the technical aid behavior with regard to the user characteristics. Different experiments have been realized with a robotic walker to evaluate our system. We also integrated it on a robotic wheelchair to show his portability on other technical aids. The obtained results present the possibilities of this adaptation on a walker system and on an electric wheelchair in order to take into account heavy difficulties of handicapped person commands (like Cerebral Motor Infirmity).