Intelligent control of a smart walker and its performance evaluation.

Recent technological advances have allowed the development of force-dependent, intelligently controlled smart walkers that are able to provide users with enhanced mobility, support and gait assistance. The purpose of this study was to develop an intelligent rule-based controller for a smart walker to achieve a smooth interaction between the user and the walker. This study developed a rule-based mapping between the interaction force, measured by a load cell attached to the walker handle, and the acceleration of the walker. Ten young, healthy subjects were used to evaluate the performance of the proposed controller compared to a well-known admittance-based control system. There were no significant differences between the two control systems concerning their user experience, velocity profiles or average cost of transportation. However, the admittance-based control system required a 1.2N lower average interaction force to maintain the 1m/s target speed (p = 0.002). Metabolic data also indicated that smart walker-assisted gait could considerably reduce the metabolic demand of walking with a four-legged walker.