An approach to walking assist control by a multi-legged system in human gait motion

Chuan Yang, Toshiyuki Murakami

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Lacking in adequate care for the elders, especially those who are walking with inconvenience is becoming a growing problem for the aging society. The elders who walk with inconvenience, once they fall down, it is very dangerous. It is also necessary for the elders to exercise walking in order to keep normal social life. Many kinds of walking aids have been developed, but most of them are fail to avoid the elders' falling down problem which is an important issue for aged care. So far, there are few researches focusing on the walking cooperation between human and legged robot. The Inertial Measurement Unit (IMU) contains a triaxial (3-D) accelerometer, a triaxial gyro (angular rate sensor) and a triaxial magnetometer, and consequently in this paper, one IMU sensor fixed near the elder's waist to measure the posture is proposed in case that the elders fall down. Two short encoder links tied on human two legs can measure the rotate angles of thign and supply the command to the proposed device. To make human feel comfortable under various situation, impedance control is also employed in this system. The performance of the approach proposed in this paper has been examined by experiments.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ5236-5241
ページ数6
ISBN(印刷版)9781479940325
DOI
出版ステータスPublished - 2014 2月 24
イベント40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
継続期間: 2014 10月 302014 11月 1

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
国/地域United States
CityDallas
Period14/10/3014/11/1

ASJC Scopus subject areas

  • 電子工学および電気工学

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