Compliant control system of intelligent walking aid based on multi-sensor

A multi-sensor-based intelligent walker compliant control system and its hardware control scheme are proposed to address the unnatural and unsmooth control problems of common wheeled walkers. The system adopts a brushless motor as the power source, acquires upper limb pressure data through the pressure sensor at the handrail, and processes the data using a filtering algorithm to determine the upper limb movement intention. At the same time, inertial sensors are used to detect the acceleration information of the lower limbs, and laser sensors are used to measure the distance between the user and the walker to realize the perception of the lower limb movement intention. By sensing the upper and lower limb movement intentions, the walker and the user achieve a high degree of human-machine integration, which results in smoother and more natural walker control. In addition, the speed of the walker is controlled through the fusion of multi-sensor data to ensure the safety of the user. This intelligent walker compliant control system provides an effective solution for the control performance of wheeled walkers and has potential application prospects.