Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic tec...

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Autores:: Sierra M., Sergio D.
Garzón, Mario
Múnera, Marcela
Cifuentes, Carlos A.

Tipo de recurso:: Article of journal

Fecha de publicación:: 2019

Institución:: Escuela Colombiana de Ingeniería Julio Garavito

Repositorio:: Repositorio Institucional ECI

Idioma:: eng

Description
Summary:	The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic technologies. In this sense, this paper presents the development and implementation of a human–robot–environment interface on a robotic platform that emulates a smart walker, the AGoRA Walker. The interface includes modules such as a navigation system, a human detection system, a safety rules system, a user interaction system, a social interaction system and a set of autonomous and shared control strategies. The interface was validated through several tests on healthy volunteers with no gait impairments. The platform performance and usability was assessed, finding natural and intuitive interaction over the implemented control strategies.

Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

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