Motion Control of Walking Assist Robot System Based on Human Model

Yasuhisa Hirata, Shinji Komatsuda, Takuya Iwano, Kazuhiro Kosuge

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

4 Citations (Scopus)

Abstract

In this paper, we introduce walking assist robot systems for the elderly people to manage the independent living over a long period of time in serious aging society. This research especially focuses on the motion control method of the walking assist robot systems based on the human linkage model calculated in real time. According to the human linkage model, the robot systems could calculate a position of the user's center of gravity and the joint moment applied around the each joint of the user in real time. Based on the information of the user, the robot systems could support the walking appropriately. The motion control algorithms based on the human model are implemented to the walker-type walking assist system and the wearable walking assist system experimentally, and experimental results illustrate the validity of the proposed methods.

Original languageEnglish
Title of host publication13th International Conference on Biomedical Engineering - ICBME 2008
Pages2232-2236
Number of pages5
DOIs
Publication statusPublished - 2009 Dec 1
Event13th International Conference on Biomedical Engineering, ICBME 2008 - , Singapore
Duration: 2008 Dec 32008 Dec 6

Publication series

NameIFMBE Proceedings
Volume23
ISSN (Print)1680-0737

Other

Other13th International Conference on Biomedical Engineering, ICBME 2008
CountrySingapore
Period08/12/308/12/6

Keywords

  • Estimation of Human States
  • Human Model
  • Walking Assist Robot System

ASJC Scopus subject areas

  • Biomedical Engineering
  • Bioengineering

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  • Cite this

    Hirata, Y., Komatsuda, S., Iwano, T., & Kosuge, K. (2009). Motion Control of Walking Assist Robot System Based on Human Model. In 13th International Conference on Biomedical Engineering - ICBME 2008 (pp. 2232-2236). (IFMBE Proceedings; Vol. 23). https://doi.org/10.1007/978-3-540-92841-6_559