Development of a human- robot-environment interface for walker-assisted locomotion
In recent years, different factors have contributed to the growth of the population with disabilities, becoming an important focus of study and research worldwide. In this way, the constant work of medicine, engineering, and robotics have led to the development of different gait assistive devices. A...
- Autores:
-
Sierra Marín, Sergio David
- Tipo de recurso:
- Fecha de publicación:
- 2020
- Institución:
- Escuela Colombiana de Ingeniería Julio Garavito
- Repositorio:
- Repositorio Institucional ECI
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.escuelaing.edu.co:001/1211
- Acceso en línea:
- https://catalogo.escuelaing.edu.co/cgi-bin/koha/opac-detail.pl?biblionumber=22403
https://repositorio.escuelaing.edu.co/handle/001/1211
- Palabra clave:
- Robótica
Caminadores Inteligentes
Interacción Humano-Robot-Ambiente
Estrategias de Control
Rehabilitación de la Marcha
Robotics
Smart Walkers
Human–Robot–Environment interaction
Control Strategies
Gait Rehabilitation
- Rights
- openAccess
- License
- Derechos Reservados - Escuela Colombiana de Ingeniería Julio Garavito
| Summary: | In recent years, different factors have contributed to the growth of the population with disabilities, becoming an important focus of study and research worldwide. In this way, the constant work of medicine, engineering, and robotics have led to the development of different gait assistive devices. Among these devices, smart walkers have emerged intending to provide physical and cognitive assistance during the rehabilitation process. The smart walkers are often equipped with actuators and sensory modalities that provide monitoring mechanisms and individual’s intention estimators for user interaction, as well as several control strategies for movement and assistance level control. Accordingly, this master’s thesis presents the design, development, and implementation of a Human-Robot-Environment interface in a robotic platform that emulates a smart walker, the AGoRAWalker. This interface is made up of several modules such as a navigation and people detection system, a safety system, a motion intention detection system, and a group of autonomous and shared control strategies. The functionalities of the AGoRA Walker were validated through different experiments in healthy and pathological volunteers. Likewise, usability and performance tests of the platform were carried out, finding that the AGoRA Walker can provide an intuitive and natural interaction in different rehabilitation scenarios. |
|---|