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- Publisher Website: 10.1299/kikaic.71.618
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Article: 人体モデルに基づいた下肢用装着型抗重力筋支援システム
| Title | 人体モデルに基づいた下肢用装着型抗重力筋支援システム Model-based wearable antigravity muscles support system for leg |
|---|---|
| Authors | |
| Keywords | Robot Human Engineering Walking Support Wearable Muscle and Skelton |
| Issue Date | 2005 |
| Citation | 日本機械学会論文集Ｃ編, 2005, v. 71, n. 702, p. 618-623 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2005, v. 71, n. 702, p. 618-623 How to Cite? |
| Abstract | In this paper, we propose a wearable antigravity muscles support device, referred to as Wearable Walking Helper, for supporting antigravity muscles on lower extremities, and a model-based control algorithm for the device without using biological signals. In this algorithm, the supporting knee joint moment is calculated based on the antigravity term of necessary knee joint moment, which is estimated based on a human approximated model. The control system is implemented in the Wearable Walking Helper and experimental results illustrate the potential of the proposed system. |
| Persistent Identifier | http://hdl.handle.net/10722/302731 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Nakamura, Takahiko | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.date.accessioned | 2021-09-07T08:42:28Z | - |
| dc.date.available | 2021-09-07T08:42:28Z | - |
| dc.date.issued | 2005 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 2005, v. 71, n. 702, p. 618-623 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2005, v. 71, n. 702, p. 618-623 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302731 | - |
| dc.description.abstract | In this paper, we propose a wearable antigravity muscles support device, referred to as Wearable Walking Helper, for supporting antigravity muscles on lower extremities, and a model-based control algorithm for the device without using biological signals. In this algorithm, the supporting knee joint moment is calculated based on the antigravity term of necessary knee joint moment, which is estimated based on a human approximated model. The control system is implemented in the Wearable Walking Helper and experimental results illustrate the potential of the proposed system. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
| dc.subject | Robot | - |
| dc.subject | Human Engineering | - |
| dc.subject | Walking Support | - |
| dc.subject | Wearable | - |
| dc.subject | Muscle and Skelton | - |
| dc.title | 人体モデルに基づいた下肢用装着型抗重力筋支援システム | - |
| dc.title | Model-based wearable antigravity muscles support system for leg | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.71.618 | - |
| dc.identifier.scopus | eid_2-s2.0-18344376752 | - |
| dc.identifier.volume | 71 | - |
| dc.identifier.issue | 702 | - |
| dc.identifier.spage | 618 | - |
| dc.identifier.epage | 623 | - |