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This paper describes a method that passively assesses basic walker-assisted gait characteristics using only force-moment measurements from the walker's handles. The passively derived gait characteristics of 22 subjects were validated against motion capture gait analysis. The force-moment based heel initial contact detection algorithm have produced a high(More)
This paper emphasizes the importance of assessing stability index for steering-controlled three-wheeled walkers. The paper describes a stability computation model that can be used to generate a reference input to the intelligent shared-control algorithm. The model can be used to evaluate the instantaneous stability margin of the walker-user system. This(More)
This paper describes the navigational control scheme used in the COOperative Locomotion Aide (COOL Aide), an intelligent walker designed to assist the elderly or the disabled with normal, and routine walking tasks. Navigation is achieved through a shared control architecture that recognizes the goals of both the human user and the walker. The control system(More)
This paper presents a physics-based model approach to infer navigational intent of the user of a walker, based on measuring forces and moments applied to the walker's handles. Our experiments use two 6-DOF force/moment sensors on the walker's handles, a 2-D kinematic-dynamic model of the walker and a digital motion capture system to trace the path of the(More)
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