Development and control of a robotic assistant walking aid for fall risk reduction

Area of Science:

• Robotics
• Gerontology
• Biomechanics

Background:

• Falls pose a significant threat to the independence and quality of life of elderly individuals.
• Conventional walking aids lack active stabilization, limiting their effectiveness in preventing fall-related accidents.

Purpose of the Study:

• To design and control a smart robotic assistant for real-time balance support in elderly users.
• To reduce fall risk by providing active stabilization and corrective forces during postural imbalances.

Main Methods:

• A wearable inertial measurement unit (IMU) detects postural imbalances in sagittal and frontal planes.
• A cascaded control architecture with optimized PID controllers manages compensatory forces from linear or rotational actuators.
• System identification accurately models actuator dynamics for precise control.

Main Results:

• The system effectively corrects postural imbalances, returning users to a stable position within 2.3 ± 0.3 s (linear) and 2.2 ± 0.2 s (rotary).
• Fast actuator response times (120 ± 10 ms linear, 140 ± 15 ms rotary) ensure timely intervention.
• Experimental validation confirmed the system's effectiveness in detecting and correcting imbalances under dynamic conditions.

Conclusions:

• The smart robotic assistant demonstrates significant potential for enhancing mobility and safety in older adults.
• This technology advances assistive fall-prevention solutions, improving therapeutic support and independence for the elderly.