ROS-Based Smart Walker with Fuzzy Posture Judgement and Power Assistance

. 2021 Mar 29;21(7):2371. doi: 10.3390/s21072371

Algorithm 2: Power assistance design user’s posture (v = PS or PL)

Input variables:

S_{g}

f_{f}

f_{d}

, v
While

S_{g}

= PS or PL
If (

f_{f}

= L ⋀

f_{d}

= L) ⋁ (

f_{f}

= M ⋀

f_{d}

= L) ⋁ (

f_{f}

= M ⋀

f_{d}

= M), then
controller output = forward fast
else if (

f_{f}

= L ⋀

f_{d}

= M) ⋁ (

f_{f}

= L ⋀

f_{d}

= S) ⋁ (

f_{f}

= M ⋀

f_{d}

= S), then
controller output = reverse (slow or fast)
else stay the same
While

S_{g}

= ZO
If

f_{f}

= L ⋀

f_{d}

= L, then
controller output = forward fast
else if

f_{f}

= M ⋀

f_{d}

= (L ⋁ M), then
controller output = stay the same
else reverse (slow or fast)
While

S_{g}

= NS or NL
controller output = reverse slow (v = PS) or reverse fast (v = PL)
End