Learning a Control Policy for Fall Prevention on an Assistive Walking Device

  title={Learning a Control Policy for Fall Prevention on an Assistive Walking Device},
  author={Visak C. V. Kumar and Sehoon Ha and Gergory Sawicki and C. Karen Liu},
  journal={2020 IEEE International Conference on Robotics and Automation (ICRA)},
Fall prevention is one of the most important components in senior care. We present a technique to augment an assistive walking device with the ability to prevent falls. Given an existing walking device, our method develops a fall predictor and a recovery policy by utilizing the onboard sensors and actuators. The key component of our method is a robust human walking policy that models realistic human gait under a moderate level of perturbations. We use this human walking policy to provide… 

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