TY - GEN
T1 - Motion Control of Walking Assist Robot System Based on Human Model
AU - Hirata, Yasuhisa
AU - Komatsuda, Shinji
AU - Iwano, Takuya
AU - Kosuge, Kazuhiro
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2009
Y1 - 2009
N2 - 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. © 2009 International Federation of Medical and Biological Engineering.
AB - 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. © 2009 International Federation of Medical and Biological Engineering.
KW - Estimation of Human States
KW - Human Model
KW - Walking Assist Robot System
UR - https://www.scopus.com/pages/publications/84867195870
UR - https://www.scopus.com/pages/publications/84867195870#tab=impact
U2 - 10.1007/978-3-540-92841-6_559
DO - 10.1007/978-3-540-92841-6_559
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9783540928409
VL - 23
T3 - IFMBE Proceedings
SP - 2232
EP - 2236
BT - 13th International Conference on Biomedical Engineering - ICBME 2008
T2 - 13th International Conference on Biomedical Engineering, ICBME 2008
Y2 - 3 December 2008 through 6 December 2008
ER -