Human intention recognition for robot walking helper using ANFIS

Yi Che Huang*, Hsiang Ping Yang, Chun Hsu Ko, Kuu-Young Young

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

In this paper, upon a passive robot walking helper developed in our laboratory, referred to as i-go, we attach the force-sensing grips to its two handles, which are used to effectively recognize the intention of the user. We use the Lasso model for user intention recognition, so that we can infer the relationship between the user' intention and measured pushing-pulling force. We also use the PCA algorithm to obtain the weighting for each intention. With the intention weighting identified, we then propose a fuzzy controller to generate proper braking force for i-go. In addition, to adapt to different users, we apply the ANFIS to tune the parameters of the fuzzy controller to achieve more accurate assistance.

Original languageEnglish
Title of host publicationASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Pages311-316
Number of pages6
StatePublished - 29 Aug 2011
Event8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan
Duration: 15 May 201118 May 2011

Publication series

NameASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

Conference

Conference8th Asian Control Conference, ASCC 2011
CountryTaiwan
CityKaohsiung
Period15/05/1118/05/11

Keywords

  • ANFIS
  • Force-Sensing Grip
  • Human Intention
  • Robot Walking Helper

Fingerprint Dive into the research topics of 'Human intention recognition for robot walking helper using ANFIS'. Together they form a unique fingerprint.

Cite this