Development of Human-Intention-Based Manipulation Assistive System for Robot Walking Helper

• Main Authors: Wu, Chang-Han, 吳昌翰
• Other Authors: Young, Kuu-Young
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/07172524335632445078

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For solving the problem of inconvenient inconvenient inconvenient in the elderly in the elderly in the elderlyin the elderly in the elderlyin the elderly’s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our s daily life, our laboratory laboratorylaboratory laboratory also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper also develop a walking helper “i - Go. ” In this In this In this In this thesis, we gather the user’s grip force by a force-sensing handle and sort the it to different human intentions. The corresponding brake torque is evaluated from grip force via the fuzzy system. For different users, we design a learning method which gets fuzzy control parameters via iterated training. This system adapts individual characteristic and assists users to manipulate the walking helper. The experiments show that the users can manipulate the walking helper more accurately with the brake torque.