Master's Research Project

This was my Master's Research project at SJSU. The project was developing and integration a user fall detection and wheelbase countermotion response plan of a robotic rollator walker. The fall detection was done by analyzing user force/torque input onto the user handle and comparing to empirically derived fall threshold values. The walker normally uses the force/torque input as user intent detection for controlling the motorized wheels. The fall detection system would override the force/torque input to the wheel control, and enact a response motion plan to move the walker heading into the same direction as the user applied force vector in the XY plane, and enact a slight reversing motion to push the user upright and keep the walker in an ideal position of postural support.