@article{oai:kutarr.kochi-tech.ac.jp:00000298,
 author = {Wang, Shuoyu and Watanabem, Yuto and Tan, Renpeng},
 issue = {12},
 journal = {ICIC Express Letters},
 month = {Dec},
 note = {Although the importance of rehabilitation is recognized across the spectrum of health and social care, how to realize early recovery is still a challenging subject. This paper reports the development of control method for a seat-style omnidirectional mobile walker (SOMW) to aid early recovery of patients who have not regained the power to stand. Training paths prescribed by physical therapists can be stored in the SOMW so that the patient can follow these reference paths during rehabilitation. However, path tracking errors occur due to load change and center of gravity shift when the patient is sitting on the SOMW. To address this problem, an adaptive control method is proposed herein. First, the kinematics and the kinetics of the SOMW are derived. An adaptive control strategy is then presented and the stability of the system is verified. Finally, an experiment is carried out to compare the performance of the control method with and without a load. The experimental results demonstrate the feasibility and effectiveness of the proposed method.},
 pages = {3183--3188},
 title = {Adaptive Controller for Motion Control of Seat-Style Omnidirectional Mobile Walker},
 volume = {6},
 year = {2012}
}