Effective Maneuver for Passive Robot Walking Helper Based on User Intention

Yi Hung Hsieh, Kuu-Young Young, Chun Hsu Ko

Research output: Contribution to journalArticlepeer-review

17 Scopus citations


In response to an aging society, a robot walking helper has come up as a research focus. To be practical for use in daily lives for the elderly, it should be able to follow user intention during maneuver and provide motion assistance when demanded. As quite a number of guidance schemes have been proposed, the studies on maneuver are comparatively few. This paper thus proposes a maneuvering system for the passive type of robot walking helper based on user intention. The proposed system first recognizes motion intention from user-applied force and hip rotation, and then utilizes an assistive control strategy to generate proper braking torque for effective maneuver. Experiments in a real environment are conducted for demonstration.

Original languageEnglish
Article number7067368
Pages (from-to)6404-6416
Number of pages13
JournalIEEE Transactions on Industrial Electronics
Issue number10
StatePublished - 1 Oct 2015


  • Assistive control strategy
  • effective maneuver
  • robot walking helper
  • user intention


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