Cognitive HRI for human mobility assistance

Abstract

In previous approaches of robotics walkers, the user directly commands the robot motion during walking through a HMI. In this context, this chapter presents the implementation and validation of the concept of Cognitive HRI for human mobility assistance. In this approach, the user does not guide directly the walker during walking. In contrast, the walker follows close enough the user in order to provide partial body-weight support. This concept intends to achieve natural human-walker cooperation during the assisted-gait. This chapter also addresses the integration of the control strategy proposed in Chap. 3 on a robotic walker. That way, some remarks regarding the human-robot physical link demand a new human-walker parameters detection. Consequently, new validations were performed before performing the control implementation.