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- Publisher Website: 10.1109/ROBOT.2005.1570796
- Scopus: eid_2-s2.0-33846127116
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Conference Paper: Control of wearable walking support system based on human-model and GRF
| Title | Control of wearable walking support system based on human-model and GRF |
|---|---|
| Authors | |
| Keywords | GRF Wearable system Antigravity muscles Walking support |
| Issue Date | 2005 |
| Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2005, v. 2005, p. 4394-4399 How to Cite? |
| Abstract | In this paper, a wearable walking support system for people who have difficulties in walking because of weakened lower extremities is proposed. We propose a model-based control algorithm for the wearable device without using biological signals, that is, the knee joint support moment is calculated as a function of the user's posture and the GRF based on the gravity term and GRF term of the necessary knee joint moment, which is estimated based on a human model. The control algorithm is implemented in the wearable walking support device, referred to as Wearable Walking Helper-II, for supporting antigravity muscles on lower extremities, and experimental results illustrate the potential of the proposed system. © 2005 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302766 |
| ISSN | 2023 SCImago Journal Rankings: 1.620 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Nakamura, Takahikio | - |
| dc.contributor.author | Saito, Kazunari | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:32Z | - |
| dc.date.available | 2021-09-07T08:42:32Z | - |
| dc.date.issued | 2005 | - |
| dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2005, v. 2005, p. 4394-4399 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302766 | - |
| dc.description.abstract | In this paper, a wearable walking support system for people who have difficulties in walking because of weakened lower extremities is proposed. We propose a model-based control algorithm for the wearable device without using biological signals, that is, the knee joint support moment is calculated as a function of the user's posture and the GRF based on the gravity term and GRF term of the necessary knee joint moment, which is estimated based on a human model. The control algorithm is implemented in the wearable walking support device, referred to as Wearable Walking Helper-II, for supporting antigravity muscles on lower extremities, and experimental results illustrate the potential of the proposed system. © 2005 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
| dc.subject | GRF | - |
| dc.subject | Wearable system | - |
| dc.subject | Antigravity muscles | - |
| dc.subject | Walking support | - |
| dc.title | Control of wearable walking support system based on human-model and GRF | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBOT.2005.1570796 | - |
| dc.identifier.scopus | eid_2-s2.0-33846127116 | - |
| dc.identifier.volume | 2005 | - |
| dc.identifier.spage | 4394 | - |
| dc.identifier.epage | 4399 | - |