Control of wearable walking support system based on human-model and GRF

Takahikio Nakamura; Kazunari Saito; Kazuhiro Kosuge

doi:10.1109/ROBOT.2005.1570796

Control of wearable walking support system based on human-model and GRF

Takahikio Nakamura, Kazunari Saito, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

39 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	4394-4399
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570796
Publication status	Published - 2005 Dec 1
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	05/4/18 → 05/4/22

Keywords

Antigravity muscles
GRF
Walking support
Wearable system

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570796

Cite this

Control of wearable walking support system based on human-model and GRF. / Nakamura, Takahikio; Saito, Kazunari; Kosuge, Kazuhiro.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 4394-4399 1570796 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nakamura, T, Saito, K & Kosuge, K 2005, Control of wearable walking support system based on human-model and GRF. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570796, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 4394-4399, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570796

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abstract = "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.",

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Control of wearable walking support system based on human-model and GRF

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Keywords

ASJC Scopus subject areas

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