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Robotics 2019, 8(2), 27; https://doi.org/10.3390/robotics8020027

Extending the Application of an Assistant Personal Robot as a Walk-Helper Tool

1
Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain
2
Cornell Agritech, University of Cornell, 630 W. North Street, Geneva, NY 14456, USA
*
Author to whom correspondence should be addressed.
Received: 13 March 2019 / Revised: 29 March 2019 / Accepted: 9 April 2019 / Published: 10 April 2019
(This article belongs to the Special Issue Recent Advances on Physical Agents)
PDF [1266 KB, uploaded 10 April 2019]

Abstract

This paper presents the application of a mobile robot designed as an Assistant Personal Robot (APR) as a walk-helper tool. The hypothesis is that the height and weight of this mobile robot can be used also to provide a dynamic physical support and guidance to people while they walk. This functionality is presented as a soft walking aid at home but not as a substitute of an assistive cane or a walker device, which may withstand higher weights and provide better stability during a walking. The APR operates as a walk-helper tool by providing user interaction using the original arms of the mobile robot and by using the onboard sensors of the mobile robot in order to avoid obstacles and guide the walking through free areas. The results of the experiments conducted with the walk-helper have showed the automatic generation of smooth walking trajectories and a reduction in the number of manual trajectory corrections required to complete a walking displacement.
Keywords: assistant personal robot; human-robot interaction; mobile robot; walking aid; quality of life assistant personal robot; human-robot interaction; mobile robot; walking aid; quality of life
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Palacín, J.; Clotet, E.; Martínez, D.; Martínez, D.; Moreno, J. Extending the Application of an Assistant Personal Robot as a Walk-Helper Tool. Robotics 2019, 8, 27.

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