A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications

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...

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Bibliographic Details
Main Authors: Xianglong Wan, Jiaxin Ma, Yichi Zhang, Takahiro Endo, Fumitoshi Matsuno
Format: Article
Language:English
Published: MDPI AG 2021-01-01
Series:Applied Sciences
Subjects:
power-assisted cart
road roughness
assisted walking
operational efficiency
human-robot interaction
Online Access:https://www.mdpi.com/2076-3417/11/3/1079

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