TY - GEN
T1 - Control of wearable walking support system based on human-model and GRF
AU - Nakamura, Takahikio
AU - Saito, Kazunari
AU - Kosuge, Kazuhiro
PY - 2005/12/1
Y1 - 2005/12/1
N2 - In this paper, a wearable walking support system for people who have difficulties in walking because of weakened lower extremities is proposed. We propose a model-based control algorithm for the wearable device without using biological signals, that is, the knee joint support moment is calculated as a function of the user's posture and the GRF based on the gravity term and GRF term of the necessary knee joint moment, which is estimated based on a human model. The control algorithm is implemented in the wearable walking support device, referred to as Wearable Walking Helper-II, for supporting antigravity muscles on lower extremities, and experimental results illustrate the potential of the proposed system.
AB - In this paper, a wearable walking support system for people who have difficulties in walking because of weakened lower extremities is proposed. We propose a model-based control algorithm for the wearable device without using biological signals, that is, the knee joint support moment is calculated as a function of the user's posture and the GRF based on the gravity term and GRF term of the necessary knee joint moment, which is estimated based on a human model. The control algorithm is implemented in the wearable walking support device, referred to as Wearable Walking Helper-II, for supporting antigravity muscles on lower extremities, and experimental results illustrate the potential of the proposed system.
KW - Antigravity muscles
KW - GRF
KW - Walking support
KW - Wearable system
UR - http://www.scopus.com/inward/record.url?scp=33846127116&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846127116&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570796
DO - 10.1109/ROBOT.2005.1570796
M3 - Conference contribution
AN - SCOPUS:33846127116
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4394
EP - 4399
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -