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Behavior-based path modification for shared control of robotic walking aids

: Graf, Birgit; Schraft, Rolf Dieter


Driessen, B. ; Nederlandse Centrale Organisatie voor Toegepast-Natuurwetenschappelijk Onderzoek; University of Technology of Delft; Institute of Electrical and Electronics Engineers -IEEE-; Kenniscentrum voor Revalidatie en Handicap:
Robots care. ICORR '07. CD-ROM : 10th International Conference on Rehabilitation Robotics, June 12 - June 15, 2007, Noordwijk, Netherlands
Piscataway, NJ: IEEE, 2007
ISBN: 1-4244-1320-6
International Conference on Rehabilitation Robotics (ICORR) <10, 2007, Noordwijk>
Conference Paper
Fraunhofer IPA ()
walking aid; Care-O-Bot; Gehhilfe; Serviceroboter; rehabilitation robotics

Robotics walking aids can provide significant support for elderly users with mobility constraints. Automatic guidance systems help to lead a user to a specific target safely. In order to ensure good support for the user, the robotic walker should adapt to the motion of the user while at the same time not losing the target out of sight. Even though some of the existing active robotic walkers are able to guide their user to a target, during guidance, the input of the user is not considered sufficiently. Therefore, a new guidance system for robotic walkers has been developed. It is able to lead the walking aid user to a given target but at the same time considers his inputs and adapts the path respectively. The guidance system has been implemented and tested on the mobile robot assistant Care-O-bot II. A field test was done in an old people's residence proving the correct function and usefulness of the guidance system.