Behavior-Based Path Modification for Shared Control of Robotic Walking Aids

摘要

Robotic walking aids can provide significant support for elderly users with mobility constraints. Automatic guidance systems help to lead a user to a specific target safely. In order to ensure good support for the user, the robotic walker should adapt to the motion of the user while at the same time not losing the target out of sight. Even though some of the existing active robotic walkers are able to guide their user to a target, during guidance, the input of the user is not considered sufficiently. Therefore, a new guidance system for robotic walkers has been developed. It is able to lead the walking aid user to a given target but at the same time considers his inputs and adapts the path respectively. The guidance system has been implemented and tested on the mobile robot assistant Care-O-bot II. A field test was done in an old people's residence proving the correct function and usefulness of the guidance system.