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dc.contributor.authorPalacín Roca, Jordi
dc.contributor.authorClotet Bellmunt, Eduard
dc.contributor.authorMartínez Lacasa, Daniel
dc.contributor.authorMartínez, David
dc.contributor.authorMoreno Blanc, Javier
dc.description.abstractThis paper presents the application of a mobile robot designed as an Assistant Personal Robot (APR) as a walk-helper tool. The hypothesis is that the height and weight of this mobile robot can be used also to provide a dynamic physical support and guidance to people while they walk. This functionality is presented as a soft walking aid at home but not as a substitute of an assistive cane or a walker device, which may withstand higher weights and provide better stability during a walking. The APR operates as a walk-helper tool by providing user interaction using the original arms of the mobile robot and by using the onboard sensors of the mobile robot in order to avoid obstacles and guide the walking through free areas. The results of the experiments conducted with the walk-helper have showed the automatic generation of smooth walking trajectories and a reduction in the number of manual trajectory corrections required to complete a walking displacement.ca_ES
dc.description.sponsorshipThis work was partially funded by Indra and Adecco Fundation, accessibility grant 2017, the University of Lleida, UdL-Impuls Grant, the RecerCaixa 2013 grant, the Government of Catalonia (Comissionat per a Universitats i Recerca, Departament d’Innovació, Universitats i Empresa), and by the European Social Fund (ECO/1794/2015).ca_ES
dc.relation.isformatofReproducció del document publicat a
dc.relation.ispartofRobotics, 2019, vol. 8, núm. 2, p. 27ca_ES
dc.rightscc-by (c) Palacín et al., 2019ca_ES
dc.subjectAssistant personal robotca_ES
dc.subjectHuman-robot interactionca_ES
dc.titleExtending the Application of an Assistant Personal Robot as a Walk-Helper Toolca_ES

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cc-by (c) Palacín et al., 2019
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