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
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:
Human intention recognition for robot walking helper using ANFIS
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 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.
Taken from:
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:
https://www.researchgate.net/publication/237499477_Towards_an_Intelligent_Service_to_Elders_Mobility_Using_the_i-Walker
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
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:
http://repositorium.sdum.uminho.pt/bitstream/1822/53081/1/Robotica%20revista%20-%20Design%20considerations%20of%20ASBGo%2B%2B.pdf
https://www.researchgate.net/publication/337210471_ASBGO_A_MECHATRONIC_IMPROVED_SMART_WALKER
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 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.
Taken from:
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
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:
http://www2.informatik.uni-freiburg.de/~wachaja/publications/wachaja14iros-ws.pdf
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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