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A Multi-Stage Shared Control Method for an Intelligent Mobility Assistant

This paper presents the UTS Walker, a 4-wheel powered robotic mobility assistant designed to aid individuals with unstable gait. The mobility assistant employs a control module known as the Multi-Stage Shared Control (MSSC), which integrates user intent, derived from handle force sensors, with real-time obstacle avoidance data from a laser rangefinder. Highly adaptable to individual preferences, the system has been rigorously tested under both simulated and real-world conditions, ensuring reliability and safety in various environments.

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A Multi-Stage Shared Control Method for an Intelligent Mobility Assistant

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  1. A Multi-Stage Shared Control Method for an Intelligent Mobility Assistant Skye McLachlan, Jaimal Arblaster, D.K. Liu, Jaime Valls Miro, L. Chenoweth University of Technology, Sydney • A 4-wheel powered robotic mobility assistant (UTS Walker) designed to facilitate safe mobilization for people with unstable gait • Control module (the MSSC) uses “fuzzy” fusion to merge user intent (derived from handle force sensors) with real time obstacle avoidance information from a laser rangefinder • Dynamically configurable by the user • Tested in simulated and real world conditions UTS Walker ThPo01.23

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