This paper presents the development of a smart walker that uses a formation controller in its displacements. Encoders, a laser range finder and ultrasound are the sensors used in the walker. The control actions are based on the user (human) location, who is the actual formation leader. There is neither a sensor attached to the user's body nor force sensors attached to the arm supports of the walker, and thus, the control algorithm projects the measurements taken from the laser sensor into the user reference and, then, calculates the linear and angular walker's velocity to keep the formation (distance and angle) in relation to the user. An algorithm was developed to detect the user's legs, whose distances from the laser sensor provide the information necessary to the controller. The controller was theoretically analyzed regarding its stability, simulated and validated with real users, showing accurate performance in all experiments. In addition, safety rules are used to check both the user and the device conditions, in order to guarantee that the user will not have any risks when using the smart walker. The applicability of this device is for helping people with lower limb mobility impairments.
Download full-text PDF |
Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4970159 | PMC |
| http://dx.doi.org/10.3390/s16071116 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Genetic Transformation of L. with the Gene Confers Resistance to (Walker).
Plants (Basel)
December 2024
State Key Laboratory of Crop Stress Biology for Arid Areas, College of Plant Protection, Northwest A&F University, Yangling, Xianyang 712100, China.
L. is a popular ornamental plant in the genus Torenia, widely used in commercial landscaping, especially during the summer. Additionally, Torenia has served as a model ornamental plant in many studies exploring ornamental characteristics and pest control through genetic engineering.
View Article and Find Full Text PDFDisentangling Sources of Momentum Fluctuations in Xe+Xe and Pb+Pb Collisions with the ATLAS Detector.
Phys Rev Lett
December 2024
CERN, Geneva, Switzerland.
High-energy nuclear collisions create a quark-gluon plasma, whose initial condition and subsequent expansion vary from event to event, impacting the distribution of the eventwise average transverse momentum [P([p_{T}])]. Disentangling the contributions from fluctuations in the nuclear overlap size (geometrical component) and other sources at a fixed size (intrinsic component) remains a challenge. This problem is addressed by measuring the mean, variance, and skewness of P([p_{T}]) in ^{208}Pb+^{208}Pb and ^{129}Xe+^{129}Xe collisions at sqrt[s_{NN}]=5.
View Article and Find Full Text PDFOptical coherence tomography in secondary progressive multiple sclerosis: cross-sectional and longitudinal exploratory analysis from the MS-SMART randomised controlled trial.
J Neurol Neurosurg Psychiatry
December 2024
Queen Square Multiple Sclerosis Centre, Department of Neuroinflammation, UCL Queen Square Institute of Neurology, Faculty of Brain Sciences, University College London, London, UK.
Background: Optical coherence tomography (OCT) inner retinal metrics reflect neurodegeneration in multiple sclerosis (MS). We explored OCT measures as biomarkers of disease severity in secondary progressive MS (SPMS).
Methods: We investigated people with SPMS from the Multiple Sclerosis-Secondary Progressive Multi-Arm Randomisation Trial OCT substudy, analysing brain MRIs, clinical assessments and OCT at baseline and 96 weeks.
Search for the Exclusive W Boson Hadronic Decays W^{±}→π^{±}γ, W^{±}→K^{±}γ and W^{±}→ρ^{±}γ with the ATLAS Detector.
Phys Rev Lett
October 2024
CERN, Geneva, Switzerland.
A search for the exclusive hadronic decays W^{±}→π^{±}γ, W^{±}→K^{±}γ, and W^{±}→ρ^{±}γ is performed using up to 140 fb^{-1} of proton-proton collisions recorded with the ATLAS detector at a center-of-mass energy of sqrt[s]=13 TeV. If observed, these rare processes would provide a unique test bench for the quantum chromodynamics factorization formalism used to calculate cross sections at colliders. Additionally, at future colliders, these decays could offer a new way to measure the W boson mass through fully reconstructed decay products.
View Article and Find Full Text PDFSearch for Light Long-Lived Particles in pp Collisions at sqrt[s]=13 TeV Using Displaced Vertices in the ATLAS Inner Detector.
Phys Rev Lett
October 2024
CERN, Geneva, Switzerland.
Article Synopsis
- - The ATLAS experiment at the LHC conducted a search for long-lived particles (LLPs) using a large dataset (140 fb^{-1}) from proton-proton collisions at 13 TeV, focusing on LLPs with masses from 5 to 55 GeV that decay within the inner detector.
- - The study considered scenarios where LLPs are produced from exotic Higgs boson decays and models involving axionlike particles (ALPs).
- - No significant findings above expected background levels were detected, leading to the establishment of upper limits on various production rates involving the Higgs boson and the top quark related to LLPs and ALPs.
Want AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!