Motion Control System Design For A Robotic Mobility Aid

With the improvement of the living standards, people's average life expectancy is getting longer and longer. Population Aging has become a major issue around the world. As the special caring are needed for more and more elderly people, social security and service system are under enormous pressure. Consequently, it is much more important to study and develop robotic mobility aids for eldercare.A type of a robotic mobility aid is designed in this paper. First the overview of the development of robotic mobility aid is presented to introduce the key component of the system. Then according to the requirement of the system, the overall program is designed. On this basis, the software and hardware of the mobile platform of the robot is designed for the basic motion of the robot with motor driven and the information exchange among the robot, the environment and the user. At last, a bi-level control system is designed. The first level is an intent based control approach, which provides a natural and intuitive human machine interface. The second level is a shared control system. It integrates the user's intent and environment information to control the walker's motion. The bi-level control system can facilitate the safe mobilization for the user.