SMART WALKERS

DESCRIPTION

Reference

https://www.parkinsonnext.nl/projecten/zorgrobotlea/

What are smart walkers?

Smart walkers are devices that provide mobility assistance and daily outpatient exercises that are essential for people's health and quality of life.

These devices are made up of mechanical structures, electronic systems, control systems, and sensors. Based on these characteristics, these devices offer physical support, navigation assistance, biomechanical monitoring, security systems, among others.

Currently there are different robotic walkers that have been conducted for research in order to provide assistance. Some of the most relevant devices from the literature will be shown in this section of the website.

AGoRA Smart Walker

Mechanical structure

It is an active four-wheel walker, which is installed on a commercial robotic platform (Pioneer LX). A pair of handlebars are anchored to the main deck, emulating the structure of an assistance walker.

Sensors

  • 3D force sensor (x2)

  • HD Camera

  • 2D LiDAR type laser

  • 2D LRF laser

  • Ultrasonic panel (x2)

  • Bumper type panel

  • Encoders (x2)

  • Inertial Sensor (IMU)

Year

2019

Dimensions

  • Height: 1,045 m

  • Width: 0.483 m

  • Length: 0.805 m


Weight

  • 70.2 kg


Department

Department of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Colombia


Functionalities

  • Detection of forces and intention of movement of the user.

  • Estimation of space-time parameters of the user's gait.

  • Navigation and guidance (location, mapping, route tracking).

  • Detection of obstacles and people in the environment (Social interaction).

  • Shared control (User intent + navigation).

  • Remote monitoring and control.

  • Adjustable difficulty of use.

AGoRA Smart walker Video

AGoRA Smart walker datasheet

GUIDO Smart walker

Mechanical structure

It is a passive 4-wheel walker, elongated upwards, which has two handlebars anchored to the upper part where the user will control the walker. Guido has brakes on the handles so that the user stops if they want to. The walker also features a key slot to turn the device on, a volume knob for auditory prompts, and a switch to select the control mode.


Sensors

  • Potentiometer

  • Force sensors

  • Rotary encoders

  • LRF

  • Probe sensor

  • Optical encoders

Year

2008

Dimensions

  • Height: Does not report

  • Width: Does not report

  • Length: Does not report


Weight

  • Does not report

Department

University of Pittsburgh, USA

Funcionalidades

  • Obstacle detection

  • Transparent Object Detection like glass doors and windows

  • Obstacle avoidance

  • Audible communication with the user

  • Automatic, manual and stationary control mode

GUIDO Smart walker photos

GUIDO Smart walker datasheet


PAMM Smart walker

Mechanical structure

It is a passive 4-wheel walker, which uses large diameter skating wheels to facilitate its change and movement in various areas. The shell is made of a single piece of the same material providing lightness. The support handles are anchored to the top of the housing.

Sensors

  • Force sensors

  • Ultrasonic sensors

  • LRF

  • Torque sensors

  • Acoustic sensors

  • Wheel encoders

  • ECG-based pulse monitor

Year

2000

Dimensions

  • Height: 0.895 m

  • Width: 0.63 m

  • Length: 0.77 m

Weight:

  • 41 Kg

Department

Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge, USA

Functionalities

  • Obstacle detection

  • Automatic and manual control mode

  • User health monitoring (vital signs)

  • Detection of descents of stairs

  • Fall detection

  • Wireless communication

  • Vision system

  • Gait monitoring

  • Automatic control of the walker speed

PAMM Smart walker photos

PAMM Smart walker datasheet

MONIMAD Smart walker

Mechanical structure

It is an active walker which has a two-degree-of-freedom arm mechanism mounted on an active mobile platform, these arms are specially designed to provide assistance when standing and sitting by users. The mechanism (articulated arms) consists of two flat parallelograms to hold the handles. The lower part of the mobile platform itself consists of two electric motors that drive the wheels.

Sensors

  • Force sensors

  • Wheel encoders

  • Torque sensors

  • Magnetic position sensors

Year

2005

Dimensions

  • Height: Does not report

  • Width: Does not report

  • Length: Does not report


Weight

  • Does not report

Department

Institute of Intelligent Systems and Robotics, Pierre and Marie Currie University, France

Functionalities

  • Fall detection including alarms

  • Assistance in standing and sitting

  • User health monitoring

  • Response to loss of stability

  • Obstacle detection

MONIMAD Smart walker Video

y2meta_.com_ -_ MONIMAD-480p_.mp4

MONIMAD Smart walker datasheet

SIMBIOSIS Smart walker

Mechanical Structure

It is a passive walker, which has support for forearms. The heaviest elements in a lower plane close to the ground, improving the stability of the system while driving. SIMBIOSIS has DC motors on the rear wheels of the device, which adds push energy to the braking system and control. The walker has a multisensory biomechanical platform for human-robot interaction.

Sensors

  • Biomechanical sensors

  • Inertial sensors

  • Force sensors

  • 3D sensors

  • Ultrasonic sensors

  • Biaxial sensors

Year

2011

Dimensions

  • Height: Does not report

  • Width: Does not report

  • Length: Does not report


Weight

  • Does not report

Department

Electrical Engineering Department, Federal University of Espírito Santo, Brazil

Functionalities

  • Gait monitoring

  • Backward movement of the walker

  • Wireless communication

  • Navigation based on user intentions

SIMBIOSIS Smart walker photos


SIMBIOSIS Smart walker datasheet

I-GO Smart walker

Mechanical structure

It is an active walker, which has its main support and U-shape as the main body, this shape is intended for the user to walk inside the I-GO. The walker has servo brakes which increase the force exerted by the driver on the brake pedal, considerably improving braking by the user. I-GO has support handles anchored to the upper part, the emergency button is located on the handles while the controls to turn on the walker are located in the upper part where the handles are anchored. The walker has an adjustable bar to adjust the height of the handle for the user between 160 and 180 cm.

Taken from:

Sensors

  • Torque sensor

  • Force sensor

  • Wheel encoders

  • Inclinometers

  • LRF

Year

2011

Dimensions

  • Height: Does not report

  • Width: Does not report

  • Length: Does not report


Weight

  • Does not report

Department

Chyao Shiunn Electronic Industrial Ltd., Shanghai, China

Funcionalidades

  • Gravity compensation

  • Obstacle detection

  • Navigation based on user intentions

  • Detection of descents and stairs

  • Movement intention detection

  • Navigation and orientation (location, map construction and route tracking)

  • Automatic walker speed control

  • Obstacle avoidance

I-GO Smart walker photos

I-GO Smart walker datasheet

JARoW Smart walker

Mechanical structure

It is an active walker with three wheels, with adjustable height and user support in a circular shape. This allows the user to be inside the walker reducing possible collisions with obstacles or walls. JARoW is height adjustable and lightweight yet strong. Similarly, the device has three structural parts: base frame, top frame and rod connection.

Sensors

  • Infrared sensor module

  • Rotary sensors

  • Proximity sensors

  • LRF

  • Wheel encoders

Year

2010

Dimensions

  • Height: 0.825 m - 1m

  • Width: 0.8 m

  • Length: 0.77 m

Weight

  • 20 kg

Department

School of Information Science, Japan Advanced Institute of Science and Technology, Japan

Functionalities

  • Obstacle detection

  • Obstacle avoidance

  • Movement intention detection

  • Automatic walker speed control

  • Navigation based on user intentions

JARoW Smart walker video

jarow.mp4

JARoW Smart walker datasheet

WCIWAR Smart walker

Mechanical structure

It is an active walker equipped with 4 passive and three active wheels. The robot consists of a support frame, a movable base, a series of sensors, a signal processing system, a rechargeable battery, and a controller. The three wheels it has are omni-directional, servo driven and mounted in the center of the front of the base. The walker controls each servo motor appropriately, the movable base can move in all directions. WCIWAR has two load wheels in the middle of the base which provide the main weight support and two stretch bars with one wheel at the end.

Sensors

  • UART

  • Force sensors

  • Ultrasonic sensors

  • Inclinometers

  • Angular position sensors

  • Wheel encoders

  • One-dimensional push-pull

Year

2012


Dimensions

  • Height: Does not report

  • Width: Does not report

  • Length: Does not report


Weight

  • Does not report

Department

Centre of Neural Interface & Rehabilitation Technology, Huazhong University of Science and Technology, China

Functionalities

  • Width changeable bottom

  • Movement intention detection

  • Obstacle detection

  • Distance detection of user and walker

  • Monitoring the surrounding range of the walker

WCIWAR Smart walker photos

WCIWAR Smart walker datasheet

ODW Smart walker

Mechanical structure

It is an active 4-wheel walker whose support is U-shaped and the height of the walker is adjustable. ODW features a touch screen, forearm support, and omni wheels. The walker has a safety seat so that the user can lean in search of rest and guarantee stability.

Sensors

  • Touch sensors

  • Force sensors

  • Pressure sensors

  • Torque sensors

Year

2010

Dimensions

  • Height: 0.9 m - 1.2 m

  • Width: 0.65 m

  • Length: 0.9 m

Weight

  • 77 Kg

Department

Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, Japan

Funcionalidades

  • Haptic response

  • Omnidirectional navigation

  • Automatic walker speed control

  • Gait monitoring

  • Movement intention detection

ODW Smart walker photos

ODW Smart walker datasheet

I-WALKER Smart walker

Mechanical structure

It is a passive walker with four wheels, two of them are motorized and the other two are rotating. The walker has two separate support handles at the top, which have brakes for the user to control when they want to stop the walker.

Taken from:

Sensors

  • Wheel encoders

  • Force sensors

  • Inclinometers

  • Digital compass

  • Antennas

  • RIFD sensors

Year

2008

Dimensions

  • Height: 0.85 m

  • Width: 0.5 m

  • Length: 0.96m

Weight

  • Does not report

Department

Technical University of Catalonia, Spain

Functionalities

  • Fall detection

  • Roller tip risk detection

  • Obstacle detection

  • User health monitoring

  • Movement intention detection

  • Navigation and orientation (location, map construction and route tracking)

I-WALKER Smart walker video

videoplayback.mp4

I-WALKER Smart walker datasheet

CAIROW Smart walker

Mechanical structure

It is an active four-wheel walker which has a button emergency in case the user needs it and a single walker support and control handle. CAIROW offers a touch screen which is in charge of managing all the commands that the user has given to the walker.

Taken from:

  • https://ieeexplore.ieee.org/document/6318355/citations#citations

Sensors

  • Force sensors

  • Wheel encoders

  • HD camera

  • LRF

Year

2012

Dimensions

  • Height: 0.96 m

  • Width: 0.6 m

  • Length: 0.43m

Weight

  • Does not report

Department

Department of Electrical Engineering, National Taiwan University, Taiwan

Functionalities

  • Emergency braking

  • Haptic response

  • Obstacle detection

  • User health monitoring

  • Automatic navigation

  • Emitting audible alarms

  • Wireless communication

CAIROW Smart walker photos

CAIROW Smart walker datasheet

ASBgo Smart walker

Mechanical structure

Es un caminador activo de 4 ruedas, el cual ofrece soporte de antebrazos, manijas y sistema de elevación mecánico . El soporte para antebrazos es en forma de U, al igual la base del caminador, esto con el fin de que el usuario se encuentre dentro del caminador. La altura del caminador es ajustable facilitando diferentes tamaños dependiendo de las necesidades y contextura de los pacientes que utilicen el caminador.

Taken from:

Sensors

  • Potentiometer

  • Sonar sensor

  • Wheel encoders

  • Force sensors

  • Sensors IMUs

  • Infrared sensors

  • LRF

  • HD camera

Year

2013

Dimensions

  • Height: 1.50 m - 1.75 m

  • Width: 1 m

  • Length: 1 m

weight

  • 50 kg

Department

Center for MicroElectroMechanical Systems, University of Minho, Guimarães, Portugal

ASBgo Smart walker videos

Functionalities

  • Autonomous and supervised navigation

  • Audible feedback

  • Movement intention detection

  • Assistance in standing and sitting

  • Gait monitoring

  • Automatic speed control

  • Fall detection

  • Adjustable height

ASBGo Smart Walker II - Height Adjustment-720p.mp4
ASBGo Smart Walker II - Remote Control-720p.mp4

ASBgo Smart walker datasheet

UFES Smart walker

Mechanical structure

It is an active three-wheeled walker, which has a forearm support where the force sensors of the walker are located. The walker has an elongated structure, allowing the user to be inside it for handling and safety.

Sensores

  • Sensores de fuerza triaxiales

  • Sensor LRF

  • Codificadores

  • Sensores IMUs

Year

2012

Dimensions

  • Height: Does not report

  • Width: Does not report

  • Length: Does not report

Weight

  • Does not report

Department

Electrical Engineering Department at the Universidade Federal do Espírito Santo, Brazil

UFES Smart walker videos

Functionalities

  • Autonomous and supervised navigation with feedback

  • Force detection

  • Motion intention detection

  • Obstacle detection

  • Gait monitoring

  • Knee distance detection of the user with the walker

y2meta_.com_ -_ Linear_ velocity_ test_ -_ UFES_ Smart_ Walker-720p_.webm
UFES2.mp4

UFES Smart walker datasheet

MOBOT Smart Walker

Mechanical structure

It is an active four-wheel walker, the laser sensors are located on the front of the platform facing the direction of movement, to provide a complete exploration of the walking area. On the other hand, a second laser rangefinder sensor is mounted on the back of the experimental platform in front of the user's legs, scanning a horizontal plane in the lower extremities at a height of approximately 40 cm.

Sensors

  • Force sensors

  • Cameras

  • Microphones

  • Force sensors

  • LRFs

  • Torque sensors

  • Visual

  • Kinect Sensor

Year

2017

Dimensions

  • Height: Does not report

  • Width: Does not report

  • Length: Does not report

Weight

  • Does not report

Department

Does not report

Functionalities

  • Motion intention detection

  • Voice and gestures recognition

  • Assistance in standing and sitting

  • Autonomous navigation

  • User health monitoring

  • Fall detection

  • Gait monitoring

  • Navigation and orientation (location, map construction and route tracking)

  • Obstacle detection

MOBOT Smart walker photos

MOBOT Smart walker datasheet

WACHAJA Smart Walker

Mechanical structure

Es un caminador pasivo, de 4 ruedas, el cual cuenta con dos manijas en la parte superior para el sostenimiento del usuario. El caminador cuenta con un sistema de frenos incluidos en las manijas los cuales le permiten a el usuario detener el caminador cuando este lo desee. Además de su forma pequeña la cual facilita su uso en diferentes entornos y brinda la posibilidad de un fácil desplazamiento.

Taken from:

Sensores

  • Sensores de fuerza

  • LRF

  • Sensor LRF de inclinación

  • Procesador de datos

Year

2014

Dimensions

  • Height: Does not report

  • Width: Does not report

  • Length: Does not report

Weight

  • Does not report

Department

University of Freiburg, Freiburg, Germany

Functionalities

  • Sistema de detección de obstáculos

  • Evasión de obstáculos

  • Construcción de mapas en 3D

  • Localización en el mapa construido

  • Retroalimentación sensorial por medio de vibraciones en las manijas

WACHAJA Smart Walker photos

Wachaja Smart Walker datasheet

MARC Smart Walker

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