Model-based walking support system with Wearable Walking Helper

Takahiko Nakamura, Kazuhiro Kosuge

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

14 Citations (Scopus)

Abstract

In this paper, a wearable walking support system for people who have difficulties in walking because of weakened lower extremitieis is proposed. We propose a wearable walking support device, referred to as Wearable Walking Helper, for supporting antigravity muscles on lower extremities, and a model-based control algorithm for the device without using biological signals, that is, supporting knee joint moment is calculated based on the antigravity term of necessary knee joint moment, which is estimated based on a human model. The control algorithm is implemented in the Wearable Walking Helper and experimental results illustrate the potential of the proposed system.

Original languageEnglish
Title of host publicationProceedings - RO-MAN 2003
Subtitle of host publicationThe 12th IEEE International Workshop on Robot and Human Interactive Communication
Pages61-66
Number of pages6
DOIs
Publication statusPublished - 2003 Dec 1
Event12th IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003 - Millbrae, CA, United States
Duration: 2003 Oct 312003 Nov 2

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Other

Other12th IEEE International Workshop on Robot and Human Interactive Communication, RO-MAN 2003
CountryUnited States
CityMillbrae, CA
Period03/10/3103/11/2

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

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