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FINAL YEAR PROJECTS IEEE PROJECTS 2013-2014 CONTACT: 9940098300, 9500075001 E-Mail:zebrosprojects@gmail.com

Office Address: No 4 / Flat No 3D, Sai Kiran Apts, First Main Road, Kasturba Nagar, Chennai-20 web: www.zebros.in e mail : zebrosprojects@gmail.com mob: 99400 98300


ZEBROS PROJECTS

HUMAN-WALKING-INTENTION-BASED MOTION CONTROL OF AN OMNIDIRECTIONAL-TYPE CANE ROBOT

ABSTRACT

We proposed an intelligent cane robot is designed for aiding the elderly and handicapped people’s walking. The robot consists of a stick, a group of sensors, and an omnidirectional basis driven by three Swedish wheels. Recognizing the user’s walking intention plays an important role in the motion control of our cane robot. To quantitatively describe the user’s walking intention, a concept called “intentional direction (ITD)” is proposed. Both the state model and the observation model of ITD are obtained by enumerating the possible walking modes and analyzing the relationship between the human–robot interaction force and the walking intention. Walking experiments aided by the cane robot on a flat ground and slope are carried out to validate the proposed control approach. The experimental results show that the user feels more natural and comfortable when our intention-based admittance control is applied.

PROPOSED SYSTEM

Our proposed system is to perform optimized actions to help the user’s walking or facilitate their recovery. These actions include “guiding,” “fall preventing,” “rehabilitation training,” and so on.

Office Address: No 4 / Flat No 3D, Sai Kiran Apts, First Main Road, Kasturba Nagar, Chennai-20 web: www.zebros.in e mail : zebrosprojects@gmail.com mob: 99400 98300


ZEBROS PROJECTS The user’s walking intention provides a reference trajectory for the robot motion controller. Therefore, in this paper, we focus on the design of robot motion 

control strategy, in which the user’s walking intention should be explicitly involved. This control strategy plays an important role in the design of a safe, reliable, and compliant cane robot, which is the prerequisite of the “rehabilitation training” for the elderly and disabled

The cane robot consists of an omnidirectional mobile base, a metal stick, and sensor groups including the force sensor, tilt angle sensors, and IR

The omnidirectional mobile base comprises three commercially available Omni wheels and actuators, which are specially designed for the walker systems. Despite the small size, the load capacity of this mobile base is up to 50 kg.

A six-axis force/torque sensor is used as the main control input interface. The force sensor plays an important role in the estimation of human walking intention, which is illustrated in the following sections. Two IRs are used to measure the distances between the stick and the knees and between the stick and the body, respectively.

According to the online-acquired distance information, the fall-prevention function of the cane robot can be implemented. We use two tilt angle sensors to measure the slope angle when the cane robot is located on a slope. This angle is useful in the calculation of gravity compensation. The current position and posture of cane robot are inferred from the sensory data of encoders mounted on the omni wheels.

Office Address: No 4 / Flat No 3D, Sai Kiran Apts, First Main Road, Kasturba Nagar, Chennai-20 web: www.zebros.in e mail : zebrosprojects@gmail.com mob: 99400 98300


ZEBROS PROJECTS BLOCK DIAGRAM:

CONTACT: ZEBROS PROJECTS PHONE:9940098300, 9500075001

ADVANTAGE 

Low power

Low cost

Easy to use

Office Address: No 4 / Flat No 3D, Sai Kiran Apts, First Main Road, Kasturba Nagar, Chennai-20 web: www.zebros.in e mail : zebrosprojects@gmail.com mob: 99400 98300


ZEBROS PROJECTS APPLICATIONS 

Blind people applications

Old people applications

Disable people applications

ZEBROS PROJECTS

SOFTWARE BASED

HARDWARE BASED

Networking

VLSI

Data Mining

Mat lab

Grid Computing

Robotics

Network Security

Embedded

Image Processing

Bio Medical

Web Applications

Power Systems

Mobile Computing

Power Electronics

Software Engineering

Java with Embedded

Cloud Computing

Android

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Office Address: No 4 / Flat No 3D, Sai Kiran Apts, First Main Road, Kasturba Nagar, Chennai-20 web: www.zebros.in e mail : zebrosprojects@gmail.com mob: 99400 98300


ZEBROS PROJECTS PROJECT SUPPORT

0th Review        

Abstract Existing System Disadvantages Proposed System Advantages Objective System Requirements System Architecture 2nd Review

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Use case Diagram Class Diagram Collaboration Diagram Sequence Diagram Activity Diagram Testing & test cases Partial Code Screenshot for First two module  Review Document Explanation Final Review

1st Review        

Literature Survey Module List Module Description Data Flow Diagram Level DFD Module Wise DFD Problem Definition Review Document Explanation 3rd Review

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Conclusion References Future Enhancement 65% code (Executable Format) Required Software Review Document Explanation

 Complete Code with Enhancement  Final Document (University Standard Format)  Complete Explanation for Project Concept & Code

Office Address: No 4 / Flat No 3D, Sai Kiran Apts, First Main Road, Kasturba Nagar, Chennai-20 web: www.zebros.in e mail : zebrosprojects@gmail.com mob: 99400 98300


Human walking intention based motion control of an omnidirectional type cane robot zebros ieee proje