| Aging population has beena global focus.‘Chinese Aging Development Statistics Report2014Annual’ shows that all Chinese elderly population aged65and over reached1.1883million in2014, and has a rising trend. With the population aging intensifies, the number ofDisable elderly and half disable elderly increases, it is a n urgent problem to ensure themcomplete the basic walking motion. Medical research shows that except surgery, drug therapy,providing nurses, the corresponding auxiliary devices to assist the patient to walk has anessential role, while has obvious advantages in terms of cost, applicability and so on. In thisregard, it is the key and foundation to design a scientific and complete auxiliary device.Given the above, an omnidirectional walking cane robot is designed. The robot consistsof the system of intention recognition, motion controlling and structure system. The robotdetects the force from user and the attitude of the cane through the sensor system, thenanalysis user’s behavior intention and controls the motion platform moving to the intentposition. Meanwhile, in the process of movement of the robot, the supporting and guidingdevice could change the posture in time to provide the supporting force constantly changing.The mechanical structure of omnidirectional walking cane robot consists of supportingand guiding device and motion platform. Supporting and guiding device can rotate in alldirections, and motion platform consists of three groups of omnidirectional wheels andstepping motors. Intention recognition system is built based on the cane used by user. Forcesensors and attitude sensor detect the force and attitude information. The corrected data is gotafter the de-noising and filtering, and translate the attitude information into the real location.The neural network forecasting system is built to connect the relationship between fore andlocation, and is applied into the intention recognition system of omnidirectional walking canerobot. After the intent location is acquired, a motion control algorithm based on force controlis proposed to achieve the intent location tracking. Finally, the accuracy in forecast the intentlocation and intent location tracking case is used to evaluate the quality of the design, verifythe performance on the walking aids. |
