Walking support by wearable system based on the spring-mass model

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

3 Citations (Scopus)

Abstract

Walking support systems have been developed and various support methods have been proposed for supporting the motion of the elderly and physically disabled. In this research, we propose a walking support method based on the spring-mass model. Although the spring-mass model is very simple, the human motion during the walking is reproduced on the computer simulation using this model. In the stance phase, we support the user's leg muscle compensating a part of the force applied to the upper body by the stance leg with the wearable-type walking support system. In the swing phase, we consider supporting the leg motion of the user using the trajectory following method based on the impedance control. The proposed method is applied to the wearable walking helper, and experimental results illustrate the validity for healthy subjects.

Original languageEnglish
Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages285-290
Number of pages6
ISBN (Print)9781479957361
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: 2014 Jul 82014 Jul 11

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
CountryFrance
CityBesancon
Period14/7/814/7/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Suzuki, S., Hirata, Y., & Kosuge, K. (2014). Walking support by wearable system based on the spring-mass model. In AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 285-290). [6878093] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2014.6878093