Lightweight and compact smart walking cane

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PeerJ Computer Science

Main article text

 

Introduction

Materials and Methods

Model of the robotic cane

Prototype of the smart cane

Control methods

Results and Discussion

LQR-based controller

Controller with gain scheduling

Controller with Gini index based tuning

Conclusions

Supplemental Information

Data from trial of first user with robotic cane

System signals during the test of first elder user with robotic cane

DOI: 10.7717/peerj-cs.1563/supp-1

Data from trial of first user with traditional cane

System signals during the test of first elder user with traditional cane

DOI: 10.7717/peerj-cs.1563/supp-2

Data from trial of second user with robotic cane (part 1)

System signals during the first part of the test of second elder user with robotic cane

DOI: 10.7717/peerj-cs.1563/supp-3

Data from trial of second user with robotic cane (part 2)

System signals during the second part of the test of second elder user with robotic cane

DOI: 10.7717/peerj-cs.1563/supp-4

Data from trial of elder user 1 with first robotic cane

System signals during the test of elder user 1 with first robotic cane

DOI: 10.7717/peerj-cs.1563/supp-5

Data from trial of elder user 2 with first robotic cane

System signals during the test of elder user 2 with first robotic cane

DOI: 10.7717/peerj-cs.1563/supp-6

Data from trial of elder user 3 with first robotic cane

System signals during the test of elder user 3 with first robotic cane

DOI: 10.7717/peerj-cs.1563/supp-7

Data from trial of elder user 4 with first robotic cane

System signals during the test of elder user 4 with first robotic cane

DOI: 10.7717/peerj-cs.1563/supp-8

Data from trial of elder user 5 with first robotic cane

System signals during the test of elder user 5 with first robotic cane

DOI: 10.7717/peerj-cs.1563/supp-9

Data from trial of elder user 6 with first robotic cane

System signals during the test of elder user 6 with first robotic cane

DOI: 10.7717/peerj-cs.1563/supp-10

Data from trial of elder user 7 with first robotic cane

System signals during the test of elder user 7 with first robotic cane

DOI: 10.7717/peerj-cs.1563/supp-11

Data from trial of elder user 1 with second robotic cane

System signals during the test of elder user 1 with second robotic cane

DOI: 10.7717/peerj-cs.1563/supp-12

Data from trial of elder user 2 with second robotic cane

System signals during the test of elder user 2 with second robotic cane

DOI: 10.7717/peerj-cs.1563/supp-13

Data from trial of elder user 3 with second robotic cane

System signals during the test of elder user 3 with second robotic cane

DOI: 10.7717/peerj-cs.1563/supp-14

Data from trial of elder user 4 with second robotic cane

System signals during the test of elder user 4 with second robotic cane

DOI: 10.7717/peerj-cs.1563/supp-15

Data from trial of elder user 5 with second robotic cane

System signals during the test of elder user 5 with second robotic cane

DOI: 10.7717/peerj-cs.1563/supp-16

Data from trial of elder user 6 with second robotic cane

System signals during the test of elder user 6 with second robotic cane

DOI: 10.7717/peerj-cs.1563/supp-17

Data from trial of elder user 7 with second robotic cane

System signals during the test of elder user 7 with second robotic cane

DOI: 10.7717/peerj-cs.1563/supp-18

Data from trial of normal user 1 with first robotic cane

System signals during the test of normal user 1 with first robotic cane

DOI: 10.7717/peerj-cs.1563/supp-19

Data from trial of normal user 1 with second robotic cane

System signals during the test of normal user 1 with second robotic cane

DOI: 10.7717/peerj-cs.1563/supp-20

Data from trial of normal user 2 with first robotic cane

System signals during the test of normal user 2 with first robotic cane

DOI: 10.7717/peerj-cs.1563/supp-21

Data from trial of normal user 2 with second robotic cane

System signals during the test of normal user 2 with second robotic cane

DOI: 10.7717/peerj-cs.1563/supp-22

Data from trial of first robotic cane with gini implemented

System signals during the test of first robotic cane with gini implemented

DOI: 10.7717/peerj-cs.1563/supp-23

Data from trial of first robotic cane without gini implemented

System signals during the test of first robotic cane without gini implemented

DOI: 10.7717/peerj-cs.1563/supp-24

Data from trial of second robotic cane with gini implemented

System signals during the test of second robotic cane with gini implemented

DOI: 10.7717/peerj-cs.1563/supp-25

Data from trial of second robotic cane without gini implemented

System signals during the test of second robotic cane without gini implemented

DOI: 10.7717/peerj-cs.1563/supp-26

Code

Data aquisition code of the cane (for Arduino)

DOI: 10.7717/peerj-cs.1563/supp-27

Additional Information and Declarations

Competing Interests

The authors declare there are no competing interests.

Author Contributions

Gonçalo Neves conceived and designed the experiments, performed the experiments, analyzed the data, performed the computation work, prepared figures and/or tables, authored or reviewed drafts of the article, and approved the final draft.

João S. Sequeira conceived and designed the experiments, analyzed the data, prepared figures and/or tables, authored or reviewed drafts of the article, and approved the final draft.

Cristina P. Santos analyzed the data, authored or reviewed drafts of the article, contributed with input from previous works and data to perform simulations and analysis, and approved the final draft.

Data Availability

The following information was supplied regarding data availability:

Raw measurements and signals of the device during the trials with the users are available in the Supplemental Files.

Funding

This research was supported by FCT projects LARSyS LA/P/0083/2020 and UIDB/P/50009/2020. There was no additional external funding received for this study. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.

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