Gait-controlled mobility-aid robot: Treadmill motor current based anteroposterior force estimation using frictional model reflects characteristics of ground reaction force

We have been developing a new mobility-aid robotic vehicle, “Tread-Walk 2 (TW-2)”, which supports walking for the elderly. TW-2 is controlled by the natural walking movement, especially using ground reaction force during gait. In our previous work, we tried to estimate the user's anteroposterior force from the motor current value without a force sensor. But… CONTINUE READING