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보행보조기 사용자의 미는 힘에 의한 조작 편의성 향상을 위한 외력 추정 기법에 대한 연구
이한솔(H. S. Lee),김병철(B. C. Kim),이원영(W. Y. Lee),이응혁(E. H. Lee) 한국재활복지공학회 2015 한국재활복지공학회 학술대회논문집 Vol.2015 No.11
In this paper, we suggest a method for convenience improvement of electrical rollator control through repulsive force by user gait intention. This method is performed by estimation of outer-force. For estimation of outer-force, we applied repulsive force estimation algorithm between user and rollator. It is using estimation of Operation current of rollator. User"s repulsive force is estimated by correlation between Outer-force and rollator current consumption, in constant velocity. For the validation and evaluation, we performed the experiment about estimation of the front and rear direction outer-force of electric rollator. After experiment, we validation that a method have a 92% accuracy in average.