S. Irgenfried S., H. Wörn
Motion Control and Fall Prevention for an Active Walker Mobility Aid
Proceedings of the Second Conference MeTrApp 2013
In this paper we present concept, prototype and first experimental results of a force/torque-sensor based motion control and fall prevention system for an active walker mobility aid to support walking and the sit to stand transfer. For detection of the user intention and for characterization of possible fall situations a 6D-force/torque sensor is used in combination together with a real-time SIMULINK R signal pre- and postprocessing. To improve situation awareness of the signal processing, a mathematical model of the human body is used in the background. Finally we present first experimental results acquired with a passive type rollator using our lab test course.