Hardware development and control of a motorized rollator as an extension for exoskeletons-Reference-Cited by-同舟云学术

Hardware development and control of a motorized rollator as an extension for exoskeletons

Published:2022-11-01 Issue:11 Volume:70 Page:1017-1027
ISSN:0178-2312
Container-title:at - Automatisierungstechnik
language:en
Short-container-title:

Author:

Bergmann Lukas¹^ORCID,Hansmann Lea¹,Leonhardt Steffen¹,Ngo Chuong¹

Affiliation:

1. Chair for Medical Information Technology , RWTH Aachen University , Pauwelsstr. 20, 52074 Aachen , Germany

Abstract

Abstract For many elderly, wheeled rollators play an essential role in everyday life’s mobility. In addition, exoskeletons are increasingly used in daily mobility as well as in rehabilitation therapy. We present a motorized rollator to combine the advantages of both support devices. Based on the developed hardware, we design two model-based control concepts. The first relies on distance measurement with ultrasonic sensors, which enables contactless navigation of the rollator, to allow balance training with the exoskeleton. The second control concept enables the balancing of the rollator on its rear wheels as a first step to overcome stairs. Through experiments on the real system, we demonstrate and discuss the functionality and reliability of both control concepts.

Publisher

Walter de Gruyter GmbH

Subject

Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering

Link

https://www.degruyter.com/document/doi/10.1515/auto-2022-0045/pdf

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