A study on controller characteristics for most efficient gait assist system

Misako Sasayama, Toshiyuki Murakami

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


With the rapid increase in the aging population of Japan, the need for robotic gait training has grown. This paper presents a novel gait training device that guides the leg movements during gait. Conditions for correct gait movement were defined through previous gait analysis, and the gait training system presented in this paper is based on those conditions. This paper focuses on designing a controller for gait guidance. The proposed power-assist using variable gain position controller was compared to a normal position controller and also to a force controller, and the characteristics a controller must have for most effective gait guidance is discussed.

Original languageEnglish
Pages (from-to)206-213
Number of pages8
JournalIEEJ Journal of Industry Applications
Issue number3
Publication statusPublished - 2014


  • Gait guidance
  • Human interface
  • Power assist control
  • Rehabilitation device
  • Variable gain

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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