Stabilization of Walking with Walking-Aid Cane Robot Applying Light Touch Effect

摘要

This paper describes a cane type single-wheel inverted pendulum robot for walking aid, which is lightweight and compact. In order to verify the effectiveness of the stabilization by this robot, we conducted an experiment observing trunk sway of a volunteer while he walked with/without our robot. As a result of this experiment, it was confirmed that our robot could reduce the trunk sway of the volunteer by about 20 [%] comparing one without our robot.