Two-Wheel Cane for Walking Assistance

A hardware design and controller of two-wheel cane has been proposed in this paper. Our two-wheel cane has been designed to assist users in maintaining balance as they move. We validated the performance of the controller designed to stabilize the inverted pendulum's balance based on the test results with the designed robot modeling. Experimental results show that two-wheel cane can be most useful to support elderly persons maintain balance.