Adaptive controller for motion control of a seated walking training machine

Yuto Watanabe, Shuoyu Wang, Kenji Ishida, Renpeng Tan, Yinla Jiang, Masakatsu Fujie

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

    1 Citation (Scopus)

    Abstract

    Medical rehabilitation is vital for recovery from various injuries and illnesses, and walking is a necessary basic function in daily life. A seated walking training machine is being developed for people who cannot stand up to receive walking rehabilitation. However, during training or other movement using this training machine, a path tracking error occurs due to a center-of-gravity shift caused by the user. In this paper, an adaptive control method is proposed and used in simulations. First, the kinematics and the kinetics of the seated walking training machine motion are described. Second, the adaptive control strategy is presented. Finally, path tracking simulations are carried out using the proposed method. Comparison with proportional-integral-derivative (PID) control in simulation experiments demonstrates the feasibility and effectiveness of the proposed adaptive control method.

    Original languageEnglish
    Title of host publication2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
    Pages271-275
    Number of pages5
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing
    Duration: 2011 Aug 72011 Aug 10

    Other

    Other2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
    CityBeijing
    Period11/8/711/8/10

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    Keywords

    • Center-of-gravity shift
    • Omni-direction
    • Path tracking
    • Seated walking training machine

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Mechanical Engineering

    Cite this

    Watanabe, Y., Wang, S., Ishida, K., Tan, R., Jiang, Y., & Fujie, M. (2011). Adaptive controller for motion control of a seated walking training machine. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 271-275). [5985669] https://doi.org/10.1109/ICMA.2011.5985669