| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robotic cane device for actively assisting users to walk and stand in an upright position. <P>SOLUTION: The robotic cane 100 includes a grip handle 110, a cane body 111 extending from the grip handle 110, a motorized omni-directional wheel 134 coupled to a second end of the cane body 111, a balance control sensor, and a controller module. The balance control sensor provides a balance signal corresponding to an orientation of the robotic cane 100. The controller module receives the balance signal from the balance control sensor and calculate a balancing velocity of the motorized omni-directional wheel 134 based on the balance signal and an inverted pendulum control algorithm. The controller module further provides a drive signal to the motorized omni-directional wheel 134 in accordance with the calculated balancing velocity to retain the robotic cane 100 in an substantially upright position. <P>COPYRIGHT: (C)2012,JPO&INPIT |
