Control Method Examination of Two-Wheeled Walker for Walking Assistance

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A completed hardware and performance test results of a two-wheeled walker to support the elder in walking are presented in this paper. The robot is based on the inverted pendulum which is linearized by utilizing the lie algebra method. A nonlinear disturbance observer is used to estimate the disturbance torque from a user to control the rotational motion of the robot. A very good performance of the designed controller of the two-wheeled walker is verified by experimental results which show that the two-wheeled walker is really effective to support the elder or disable in walking or standing.

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