Background
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Capable of carrying the H.O.T. equipment (oxygen tank or concentrator)
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Capable of following the patient’s movement in daily life
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Simple to use
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Low weight and compact size
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Low cost
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We describe the two leader following control algorithms and evaluate them using computer simulation and motion capture hardware experiments in a controlled environment. We assess the suitability of each algorithm for use in an assistive follower robot.
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We present the results of experiments conducted with H.O.T. patients, including a questionnaire to assess the needs of the users and evaluate the robot’s performance.
Methods
Pseudo-Joystick control
Follow-the-leader control with constant distance
Leader tracking
Constant distance control
Dynamic simulation
Simulation environment
Simulation results
Experiments in controlled environment
Follower robot
Dimensions L × W × H | 670 × 330 × 350 | mm |
Mass | 7.5 | kg |
Max. Velocity | 1.0 | m/s |
Max. Step Height | 90 | mm |
Operating Time | 180 | min |
Payload | 2.5 | kg |
Method
Results
Normal deviation from leader path (m)
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---|---|---|---|---|
Pseudo-Joystick
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Follow the leader
| |||
Mean
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Std. deviation
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Mean
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Std. deviation
| |
Subject 1 | 0.167 | 0.095 | 0.153 | 0.085 |
Subject 2 | 0.154 | 0.073 | 0.168 | 0.065 |
Subject 3 | 0.243 | 0.135 | 0.094 | 0.059 |
Subject 4 | 0.267 | 0.150 | 0.134 | 0.095 |
Subject 5 | 0.226 | 0.130 | 0.143 | 0.109 |
Average | 0.211 | 0.117 | 0.138 | 0.083 |
Experiments involving H.O.T. patients
Method
Position tracking from video data
Results and discussion
Follower trajectory
Normal deviation from leader path (m)
| ||||
---|---|---|---|---|
Pseudo-Joystick
|
Follow the leader
| |||
Mean
|
Std. deviation
|
Mean
|
Std. deviation
| |
Subject 1 | 0.153 | 0.110 | 0.194 | 0.145 |
Subject 2 | 0.204 | 0.131 | 0.119 | 0.095 |
Subject 3 | 0.178 | 0.110 | 0.155 | 0.087 |
Subject 4 | 0.179 | 0.116 | 0.102 | 0.078 |
Subject 5 | 0.171 | 0.133 | 0.127 | 0.089 |
Average | 0.177 | 0.120 | 0.139 | 0.099 |