Hierarchical Shared Control of Cane-Type Walking-Aid Robot

Area of Science:

• Robotics
• Human-Robot Interaction
• Control Systems

Background:

• Walking-aid robots require sophisticated control for safe and intuitive operation.
• Integrating human intention with autonomous obstacle avoidance is crucial for user safety.

Purpose of the Study:

• To propose a hierarchical shared-control method for walking-aid robots.
• To enhance robot navigation by combining human motion intention recognition with emergency obstacle avoidance.

Main Methods:

• Human motion intention is identified using force-sensing resistors (FSR) and a torque sensor.
• Obstacle detection and avoidance are managed by a laser-range finder (LRF) and artificial potential field (APF) algorithms.
• A hierarchical control strategy integrates intention recognition and obstacle avoidance based on robot-obstacle proximity.

Main Results:

• The proposed method effectively recognizes human motion intentions through sensor fusion.
• The artificial potential field approach successfully guides the robot around detected obstacles.
• Experimental validation confirmed the effectiveness of the hierarchical shared-control system.

Conclusions:

• The developed hierarchical shared-control method enhances the safety and usability of walking-aid robots.
• This approach offers a robust solution for real-time navigation in dynamic environments.
• The integration of human intention and autonomous safety features represents a significant advancement in assistive robotics.