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Development of Intelligent Walking Assistive Robot Using Stereo Cameras

스테레오 카메라를 이용한 지능형 보행보조로봇의 개발

  • Park, Min-Jong (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Jung-Yup (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
  • 박민종 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김정엽 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2014.02.06
  • Accepted : 2014.06.09
  • Published : 2014.08.01

Abstract

This paper describes the development of a walking assistive robot for effective self-rehabilitation for elderly people facing an inconvenience in walking. The main features of the developed robot are enhanced safety and mobility using the baby walker and electric wheelchair mechanisms and an accurate walking tracking control algorithm using potentiometers and stereo cameras. Specifically, a pelvis supporter is designed to prevent the user from falling down and reduce the burden on their legs, and electric motors are used for easy locomotion with low effort. Next, the walking intention and direction of the user are automatically recognized by using potentiometers attached at the pelvis supporter so that the robot can track the user, and the rapidity and accuracy of the tracking were increased by applying a lower-body motion analysis algorithm with stereo cameras. Finally, the user-tracking performance of the developed robot was experimentally verified through stepwise walking assistance experiments.

Keywords

Walking Assistive Robot;Stereo Camera

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