Wearable walking support system based on GRF and human model

Takahiko Nakamura, Kazunari Saito, Zhi Dong Wang, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


In this paper, we propose a new algorithm, referred to as the Model-based control algorithm for Anti-Gravity Muscles Assist with Ground Reaction Force feedback, to control a wearable waking support system. In this algorithm, the joint support moment of human is calculated based on the term of the antigravity and the ground reaction force of necessary joint moment of human, which is estimated based on the dynamics of a human approximated model. The algorithm is implemented in a wearable walking support device, referred to as Wearable Walking Helper-II and experimental results illustrate the potential of the proposed system.

Original languageEnglish
Pages (from-to)2562-2567
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number8
Publication statusPublished - 2006 Aug


  • Human engineering
  • Muscle and skelton
  • Robot
  • Walking support
  • Wearable

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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