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

Takahikio Nakamura, Kazunari Saito, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

34 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 languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages4394-4399
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

Keywords

  • Antigravity muscles
  • GRF
  • Walking support
  • Wearable system

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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