TY - JOUR
T1 - Human–Robot–environment interaction interface for smart walker assisted gait
T2 - AGoRA walker
AU - Sierra M., Sergio D.
AU - Garzón, Mario
AU - Múnera, Marcela
AU - Cifuentes, Carlos A.
PY - 2019
Y1 - 2019
N2 - The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic technologies. In this sense, this paper presents the development and implementation of a human–robot–environment interface on a robotic platform that emulates a smart walker, the AGoRA Walker. The interface includes modules such as a navigation system, a human detection system, a safety rules system, a user interaction system, a social interaction system and a set of autonomous and shared control strategies. The interface was validated through several tests on healthy volunteers with no gait impairments. The platform performance and usability was assessed, finding natural and intuitive interaction over the implemented control strategies.
AB - The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic technologies. In this sense, this paper presents the development and implementation of a human–robot–environment interface on a robotic platform that emulates a smart walker, the AGoRA Walker. The interface includes modules such as a navigation system, a human detection system, a safety rules system, a user interaction system, a social interaction system and a set of autonomous and shared control strategies. The interface was validated through several tests on healthy volunteers with no gait impairments. The platform performance and usability was assessed, finding natural and intuitive interaction over the implemented control strategies.
KW - Control strategies
KW - Gait assistance
KW - Gait rehabilitation
KW - Human–robot–environment interaction
KW - Shared control
KW - Smart walker
UR - http://www.scopus.com/inward/record.url?scp=85069266289&partnerID=8YFLogxK
U2 - 10.3390/s19132897
DO - 10.3390/s19132897
M3 - Article
C2 - 31262036
AN - SCOPUS:85069266289
SN - 1424-8220
VL - 19
JO - Sensors (Switzerland)
JF - Sensors (Switzerland)
IS - 13
M1 - 2897
ER -
