Neural Approximation Enhanced Predictive Tracking Control of a Novel Designed Four-Wheeled Rollator

摘要

Featured Application @@@ With the population explosion, the inconvenience of travel for the elderly has gradually become a matter of society. How to promote the safety assistance system of the rollator equipment is the challenge. As a medical device, elderly mobility aid has extremely critical security conditions. The rollator can support the elderly to return a healthy life, carry out outdoor rehabilitation training, and improve the condition in their later years. However, most of the elderly rollator is produced after the rehabilitation of medical aids, and profoundly overlooked the needs of the elderly. In the field of industrial design, innovative methods like brainstorming are frequently adopted, which are inefficient and dependent on the designer's experience. Therefore, this article combines the theory of inventive problem solving (TRIZ theory) with the Kano model and the quality function deployment (QFD) theory, advancing the product design of the industrial applications. @@@ In the past few decades, the research of assistant mobile rollators for the elderly has attracted more and more investigation attention. In order to satisfy the needs of older people or disabled patients, this paper develops a neural approximation based predictive tracking control scheme to improve and support the handicapped through the novel four-wheeled rollator. Firstly, considering the industrial product theory, a novel Kano-TRIZ-QFD engineering design approach is presented to optimize the mechanical structure combined with humanistic care. At the same time, in order to achieve a stable trajectory tracking control for the assistant rollator system, a neural approximation enhanced predictive tracking control is discussed. Finally, autonomous tracking mobility of the presented control scheme has received sufficient advantage performance in position and heading angle variations under the external uncertainties. As the market for the medical device of the elderly rollators continues to progress, the method discussed in this article will attract more investigation and industry concerns.

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