Tip-over Stability Analysis of an Omni-directional Robotic Walker
An omni-directional robotic walker is proposed to provide lower limb assistance.In the using process of the robotic walker,tip-over stability is an important health issue.Based on the theory of the tip-over stability,the stability analysis is carried out to study the unsafe situation,with the optimized control algorithm,to prevent the unsafe situation and provide the patient with safe condition.This paper presents the kinematic model and tip-over moment,furthermore the simulation analysis is carried out to study the stability during the daily life,sit to stand test and human-machine interaction process.
万方数据
维普
