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)

Abstract

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
Volume72
Issue number8
DOIs
Publication statusPublished - 2006 Aug

Keywords

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

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Wearable walking support system based on GRF and human model'. Together they form a unique fingerprint.

Cite this