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An omni-directional walker (ODW) has been developed to support people with walking impairment to do walking training without the presence of a physical therapist. In order to get a good training effect, the ODW needs to precisely follow the training path which is defined by a physical therapist. However, the forces caused by user make the ODW deviate from the training path. In previous studies, an...
An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training...
An omni-directional walker (ODW) has been developed for walking rehabilitation for people with walking disabilities. In re habilitation, a user needs to accurately follow the reference path stored in the ODW in order to obtain good training effect. In order to improve the path tracking accuracy, a nonlinear adaptive controller was developed in pervious studies, to deal with load change and center...
In previous studies, an excretion care support robot has been developed for the bedridden people. To improve the motion performance for the robot, a digital acceleration controller has been designed to deal with the problem of uncertain and unbounded nonlinear friction. The motion performance of the digital acceleration control system is not sufficient because the design of the digital acceleration...
Medical rehabilitation is vital for recovery from various injuries and illnesses, and walking is a necessary basic function in daily life. A seated walking training machine is being developed for people who cannot stand up to receive walking rehabilitation. However, during training or other movement using this training machine, a path tracking error occurs due to a center-of-gravity shift caused by...
Car-like mobile robots are widely used in industry, ports, and agriculture because they have the necessary loading capability. So far, the path tracking accuracy of these robots is low due to nonlinear friction in the wheels, center-of-gravity shifts, and load changes caused by users. To address these issues, a dynamics model is derived that considers nonlinear friction, center-of-gravity shifts,...
An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering...
A walking rehabilitation system is proposed which includes both muscle strength enhancement by walking rehabilitation machines and neurological rehabilitation by imaginary walking. In a previous study, we have demonstrated that the concentration of oxygenated hemoglobin (oxy-Hb) in motor area during imaginary walking was higher than that during real walking by means of fNIRS (functional Near-InfraRed...
An omni-directional walker (ODW) has been developed which can support people with walking disabilities to perform indoor walking. During walking support, the walker can identify the user's directional intention according to the user's forearm pressures and support the user to go in the intended direction. In this paper, an adaptive control method is proposed to control the ODW's movement toward the...
Walking is a vital exercise for health promotion and a fundamental ability necessary for everyday life. In the authors' previous studies, an omni-directional walker was developed for walking rehabilitation. Walking training programs are stored in the walker and the walker must precisely follow the paths defined in the walking training programs to guarantee the effectiveness of rehabilitation. In the...
Walking is a vital exercise that is very important for health and everyday life. In the authors' previous studies, an omni-directional walker was developed for walking rehabilitation. Walking training programs are stored in the walker so that rehabilitation can be carried out without a physical therapist. However, the walker sometimes strays from the predefined path due to a center of gravity shift...
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