Adaptive control method for a walking support machine considering center-of-gravity shifts and load changes

Y. N. Wang, S. Y. Wang, R. P. Tan, Y. L. Jiang, K. Ishida, M. G. Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    In previous studies, an omni-directional walking support machine has been developed for people suffering from walking impairment. During walking support, the machine can identify the user's directional intention according to the user's forearm pressures and support the user to where they want to go. However, the motion performance of the machine is affected by the center-of-gravity (COG) shifts and load changes caused by users, which may cause the danger of colliding obstacles. To address these issues, this paper proposes an adaptive controller for the walking support machine. This control method does not need the exact values of the plant parameters and can adapt to parameter uncertainties by measuring and adjusting the parameters automatically. Therefore, it is very robust to plant parameter changes caused by the COG shifts and load changes. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed adaptive control method.

    Original languageEnglish
    Title of host publication2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
    Pages684-689
    Number of pages6
    Publication statusPublished - 2012
    Event2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 - Tokyo
    Duration: 2012 Sep 182012 Sep 21

    Other

    Other2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
    CityTokyo
    Period12/9/1812/9/21

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Mechanical Engineering

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  • Cite this

    Wang, Y. N., Wang, S. Y., Tan, R. P., Jiang, Y. L., Ishida, K., & Fujie, M. G. (2012). Adaptive control method for a walking support machine considering center-of-gravity shifts and load changes. In 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 (pp. 684-689). [6329664]