A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications
In this paper, we propose two control methods for driving a power-assisted cart made for walking assistance for the elderly. The optimal assistance ratio (OAR) and disturbance observer-based (DOB) methods properly adjust the motor output of the cart with high operational efficiency in response to ch...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-01-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/3/1079 |
| _version_ | 1797407557901352960 |
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| author | Xianglong Wan Jiaxin Ma Yichi Zhang Takahiro Endo Fumitoshi Matsuno |
| author_facet | Xianglong Wan Jiaxin Ma Yichi Zhang Takahiro Endo Fumitoshi Matsuno |
| author_sort | Xianglong Wan |
| collection | DOAJ |
| description | In this paper, we propose two control methods for driving a power-assisted cart made for walking assistance for the elderly. The optimal assistance ratio (OAR) and disturbance observer-based (DOB) methods properly adjust the motor output of the cart with high operational efficiency in response to changes in the environment. Healthy subjects walked with the cart on several road surfaces under various conditions, and the experimental results indicate the high operational efficiency of the two proposed methods. Meanwhile, their drawbacks are also discussed herein. The two methods can be used separately or combined according to the application. The OAR method is more suitable for indoor use, while the DOB method is applicable for outdoor applications. Combining these two methods could overcome the mentioned drawbacks. |
| first_indexed | 2024-03-09T03:43:18Z |
| format | Article |
| id | doaj.art-443d9236753441ffbaf5e0653abccf2f |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T03:43:18Z |
| publishDate | 2021-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-443d9236753441ffbaf5e0653abccf2f2023-12-03T14:36:30ZengMDPI AGApplied Sciences2076-34172021-01-01113107910.3390/app11031079A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance ApplicationsXianglong Wan0Jiaxin Ma1Yichi Zhang2Takahiro Endo3Fumitoshi Matsuno4Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto Daigaku-Katsura, Nishikyo-ku, Kyoto 615-8530, JapanDepartment of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto Daigaku-Katsura, Nishikyo-ku, Kyoto 615-8530, JapanDepartment of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto Daigaku-Katsura, Nishikyo-ku, Kyoto 615-8530, JapanDepartment of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto Daigaku-Katsura, Nishikyo-ku, Kyoto 615-8530, JapanDepartment of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto Daigaku-Katsura, Nishikyo-ku, Kyoto 615-8530, JapanIn this paper, we propose two control methods for driving a power-assisted cart made for walking assistance for the elderly. The optimal assistance ratio (OAR) and disturbance observer-based (DOB) methods properly adjust the motor output of the cart with high operational efficiency in response to changes in the environment. Healthy subjects walked with the cart on several road surfaces under various conditions, and the experimental results indicate the high operational efficiency of the two proposed methods. Meanwhile, their drawbacks are also discussed herein. The two methods can be used separately or combined according to the application. The OAR method is more suitable for indoor use, while the DOB method is applicable for outdoor applications. Combining these two methods could overcome the mentioned drawbacks.https://www.mdpi.com/2076-3417/11/3/1079power-assisted cartroad roughnessassisted walkingoperational efficiencyhuman-robot interaction |
| spellingShingle | Xianglong Wan Jiaxin Ma Yichi Zhang Takahiro Endo Fumitoshi Matsuno A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications Applied Sciences power-assisted cart road roughness assisted walking operational efficiency human-robot interaction |
| title | A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications |
| title_full | A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications |
| title_fullStr | A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications |
| title_full_unstemmed | A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications |
| title_short | A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications |
| title_sort | power assisted cart with the optimal assistance ratio and disturbance observer based methods for walking assistance applications |
| topic | power-assisted cart road roughness assisted walking operational efficiency human-robot interaction |
| url | https://www.mdpi.com/2076-3417/11/3/1079 |
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