Walking Support and Power Assistance of a Wheelchair Typed Omnidirectional Mobile Robot with Admittance Control

摘要

free casters is proposed An omnidirectional mobile robot platform using active dual-wheel caster mechanisms is developed An omnidirectional platform and vehicle design using active split offset casters (ASOC) is also developed Its structure is very similar to However, up to now, the wheelchair typed robot that can be used either for the elderly's walking support, or the disabled's walking rehabilitation, or the caregiver's power assistance has not been reported yet. In this study, we develop such kind of wheelchair typed omnidirectional robot that not only can support the elderly or the disabled's walking, but also can lessen the caregivers' burden, or saying, give the caregivers power assistance.