Patent ID: 8380379

Claim:
A walking assistive system, comprising: a plurality of motion control modules, each motion control module comprising: a plurality of omni-directional wheels, for omni-directional moving; a plurality of motors, connected to the omni-directional wheels and driving the omni-directional wheels; a servo controller, connected to the motors and controlling the motors; and a plurality of shaft encoders, connected to the servo controller, generating a plurality of rotation speed values according to the rotation speed of the motors; a plurality of current detecting modules, connected to the motors, sensing the current of the motors then correspondingly generating a plurality of current values; and a central control module, connected to the motion control modules and the current detecting modules, controlling the motion control module according to the rotation speed values provided by the servo controller and the current values provided by the current detecting modules; when a user does not force on the walking assistive system, the central control module controls the motion control modules to be standing by; when the user force on the walking assistive system with a external force, the central control module controls the motion modules operating according to the external force.